+ python -m lidar_slam --no-model /working/cf3633bb-4319-48e6-a195-9cfd55a72198 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/cf3633bb-4319-48e6-a195-9cfd55a72198 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 0.027719421 Adjusted end_distance from 9.223372036854776e+18 to 174.917719421 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027719421 meters 0.1028445716007337 Centerline is valid? [0, False] SLAMing on 0.057719421 meters 0.10762707020111335 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998460e-01 1.63980003e-03 -6.25864348e-04 2.38769390e-03] [-1.63949134e-03 9.99998534e-01 4.93416453e-04 5.37577393e-03] [ 6.26672535e-04 -4.92389594e-04 9.99999682e-01 -1.53430190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08771942099999999 meters 0.11257570824998002 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99997501e-01 2.05977201e-03 -8.69338242e-04 3.81567628e-03] [-2.05907878e-03 9.99997562e-01 7.97566096e-04 5.91045270e-03] [ 8.70978927e-04 -7.95774067e-04 9.99999304e-01 -2.86444118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11771942099999999 meters 0.11525558526943845 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 0.99999495 0.00301447 -0.00100277 0.00692229] [-0.00301308 0.9999945 0.00138629 0.00704848] [ 0.00100694 -0.00138326 0.99999854 -0.00670486] [ 0. 0. 0. 1. ]] SLAMing on 0.147719421 meters 0.11967689166645676 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99993490e-01 3.46877601e-03 -9.93697721e-04 8.25322562e-03] [-3.46684021e-03 9.99992102e-01 1.94322235e-03 7.27119496e-03] [ 1.00043048e-03 -1.93976471e-03 9.99997618e-01 -8.60017616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.177719421 meters 0.12724202805567825 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99993985e-01 3.33660672e-03 -9.47448127e-04 9.45109935e-03] [-3.33518524e-03 9.99993316e-01 1.49796220e-03 1.07361189e-02] [ 9.52439906e-04 -1.49479327e-03 9.99998429e-01 -1.03778677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.207719421 meters 0.1300440724749018 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99994664e-01 3.17993527e-03 -7.48614575e-04 9.52678391e-03] [-3.17896325e-03 9.99994107e-01 1.29605422e-03 1.20662071e-02] [ 7.52731532e-04 -1.29366748e-03 9.99998880e-01 -1.10280238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.237719421 meters 0.13994153136617302 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99996189e-01 2.72041465e-03 -4.70128464e-04 8.87460311e-03] [-2.71969006e-03 9.99995123e-01 1.53507114e-03 1.00328675e-02] [ 4.74302202e-04 -1.53378668e-03 9.99998711e-01 -1.10704133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.267719421 meters 0.14728653996927785 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998146e-01 -1.76729876e-03 -7.64656115e-04 8.72017050e-03] [ 1.76490148e-03 9.99993561e-01 -3.12450380e-03 1.14627188e-02] [ 7.70173123e-04 3.12314846e-03 9.99994826e-01 -1.01748930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29771942100000004 meters 0.15636966022375315 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998818e-01 -1.51667519e-03 -2.53888339e-04 8.83336358e-03] [ 1.51620153e-03 9.99997129e-01 -1.85553239e-03 7.92612529e-03] [ 2.56701850e-04 1.85514525e-03 9.99998246e-01 -1.19236545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.327719421 meters 0.162356216249916 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99999626e-01 -8.61120093e-04 -8.63590126e-05 9.98481016e-03] [ 8.61060076e-04 9.99999389e-01 -6.92619327e-04 5.75146375e-03] [ 8.69553883e-05 6.92544708e-04 9.99999756e-01 -1.39455327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.357719421 meters 0.16444097516354114 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99999976e-01 -1.26777825e-04 1.81293508e-04 1.11704221e-02] [ 1.26663707e-04 9.99999794e-01 6.29337511e-04 3.12333126e-03] [-1.81373256e-04 -6.29314532e-04 9.99999786e-01 -1.62417581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.387719421 meters 0.17411146249606144 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99991170e-01 -4.20190261e-03 6.86231618e-05 1.25466206e-02] [ 4.20211403e-03 9.99985241e-01 -3.44395508e-03 4.41603909e-03] [-5.41509851e-05 3.44421304e-03 9.99994067e-01 -1.77304522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41771942100000004 meters 0.17829305825321456 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99991092e-01 -4.22091630e-03 2.32966611e-05 1.29991782e-02] [ 4.22097215e-03 9.99984901e-01 -3.51874366e-03 5.65745385e-03] [-8.44398689e-06 3.51881065e-03 9.99993809e-01 -1.82152871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.447719421 meters 0.17928813780585973 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99990907e-01 -4.26425497e-03 -4.51705080e-05 1.35269836e-02] [ 4.26405926e-03 9.99984100e-01 -3.69014396e-03 7.04398989e-03] [ 6.09055045e-05 3.68991779e-03 9.99993190e-01 -1.86985419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.477719421 meters 0.18307042974461984 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99999957e-01 -1.47993750e-05 2.94206074e-04 1.36588672e-02] [ 1.46063929e-05 9.99999785e-01 6.55933062e-04 7.75890602e-03] [-2.94215718e-04 -6.55928737e-04 9.99999742e-01 -1.97707067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.507719421 meters 0.18270583466672877 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99999936e-01 -2.53436769e-04 2.50911552e-04 1.37833708e-02] [ 2.53393043e-04 9.99999953e-01 1.74283408e-04 9.79377459e-03] [-2.50955710e-04 -1.74219818e-04 9.99999953e-01 -1.97720598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.537719421 meters 0.18790076328941585 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.02 [[ 9.99999955e-01 1.65126820e-04 2.50360707e-04 1.60349642e-02] [-1.65265198e-04 9.99999834e-01 5.52792701e-04 1.13478038e-02] [-2.50269385e-04 -5.52834052e-04 9.99999816e-01 -2.26108247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5677194210000001 meters 0.18847409223359268 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 9.99999625e-01 5.02865180e-04 7.05590602e-04 1.80015068e-02] [-5.03325216e-04 9.99999661e-01 6.51961125e-04 1.11336499e-02] [-7.05262514e-04 -6.52316022e-04 9.99999539e-01 -2.58182583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.597719421 meters 0.19123822082815772 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 9.99999452e-01 7.82928786e-04 6.95034231e-04 1.94435358e-02] [-7.83436551e-04 9.99999426e-01 7.30589235e-04 1.14433116e-02] [-6.94461833e-04 -7.31133349e-04 9.99999492e-01 -2.74009951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.627719421 meters 0.19057522959577633 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 9.99999439e-01 8.94375029e-04 5.67159902e-04 2.08715480e-02] [-8.94720049e-04 9.99999415e-01 6.08368432e-04 1.28019357e-02] [-5.66615461e-04 -6.08875541e-04 9.99999654e-01 -2.87038638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.657719421 meters 0.1952238238156927 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.03 [[ 9.99999713e-01 6.48445380e-04 3.92727689e-04 2.26544635e-02] [-6.48432350e-04 9.99999789e-01 -3.33029753e-05 1.78102411e-02] [-3.92749201e-04 3.30483084e-05 9.99999922e-01 -3.06860005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6877194209999999 meters 0.19395408795847907 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.03 [[ 9.99999704e-01 7.63029961e-04 9.71866948e-05 2.45946834e-02] [-7.63007636e-04 9.99999683e-01 -2.29544385e-04 2.02148738e-02] [-9.73618132e-05 2.29470163e-04 9.99999969e-01 -3.22632698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.717719421 meters 0.1942360463488535 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.04 [[ 9.99999337e-01 1.01379729e-03 5.45242251e-04 2.74022638e-02] [-1.01341049e-03 9.99999235e-01 -7.09222228e-04 2.22902251e-02] [-5.45960841e-04 7.08669204e-04 9.99999600e-01 -3.61688168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.747719421 meters 0.194956805342371 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.04 [[ 9.99999067e-01 1.36586715e-03 1.83471826e-05 3.03595161e-02] [-1.36584699e-03 9.99998508e-01 -1.05754242e-03 2.62001368e-02] [-1.97916177e-05 1.05751638e-03 9.99999441e-01 -3.83717984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.777719421 meters 0.19944950430996408 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.04 [[ 9.99987437e-01 4.99400829e-03 -4.29806109e-04 3.46787543e-02] [-4.99338814e-03 9.99986508e-01 1.43201716e-03 3.39690367e-02] [ 4.36951815e-04 -1.42985298e-03 9.99998882e-01 -4.24288401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.807719421 meters 0.20213955789617502 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.04 [[ 9.99990404e-01 4.33790775e-03 -6.11984978e-04 3.62114115e-02] [-4.33768604e-03 9.99990526e-01 3.63149912e-04 4.06272041e-02] [ 6.13554491e-04 -3.60491829e-04 9.99999747e-01 -4.39722820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.837719421 meters 0.20018048855717946 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.04 [[ 9.99993584e-01 3.55048857e-03 -4.74940413e-04 3.56177396e-02] [-3.55083984e-03 9.99993421e-01 -7.40819798e-04 4.39058515e-02] [ 4.72307017e-04 7.42501483e-04 9.99999613e-01 -4.35115555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.867719421 meters 0.19937491141023725 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.04 [[ 9.99994758e-01 3.23372588e-03 -1.66456216e-04 3.51234953e-02] [-3.23388008e-03 9.99994334e-01 -9.34614219e-04 4.43165244e-02] [ 1.63432986e-04 9.35147619e-04 9.99999549e-01 -4.36938823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.897719421 meters 0.19452343600695016 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.05 [[ 9.99999773e-01 -3.48963416e-04 -5.75523581e-04 3.84873266e-02] [ 3.46193143e-04 9.99988388e-01 -4.80657844e-03 4.56630506e-02] [ 5.77194218e-04 4.80637811e-03 9.99988283e-01 -4.67355319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9277194209999999 meters 0.1944867913299089 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.05 [[ 9.99999534e-01 7.79856456e-04 -5.68913163e-04 4.10822842e-02] [-7.81615322e-04 9.99994896e-01 -3.09798157e-03 4.24791690e-02] [ 5.66494278e-04 3.09842480e-03 9.99995039e-01 -5.02365622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.957719421 meters 0.19228276363463265 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.05 [[ 9.99999114e-01 1.18687417e-03 -6.03066998e-04 4.37413742e-02] [-1.18820234e-03 9.99996859e-01 -2.20679444e-03 4.22184845e-02] [ 6.00445916e-04 2.20750905e-03 9.99997383e-01 -5.40387622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.987719421 meters 0.18994132282515838 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.06 [[ 9.99998517e-01 1.52392531e-03 -8.02688882e-04 4.63200618e-02] [-1.52553708e-03 9.99996814e-01 -2.01120335e-03 4.46343436e-02] [ 7.99621401e-04 2.01242490e-03 9.99997655e-01 -5.67987518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.017719421 meters 0.19016662448094238 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.06 [[ 9.99998505e-01 1.49969116e-03 -8.60297259e-04 4.75536705e-02] [-1.50164554e-03 9.99996283e-01 -2.27562558e-03 4.67698633e-02] [ 8.56881326e-04 2.27691404e-03 9.99997041e-01 -5.81533625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.047719421 meters 0.18869301906944824 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.06 [[ 9.99997125e-01 2.22248525e-03 -9.00481015e-04 5.21937906e-02] [-2.22455242e-03 9.99994878e-01 -2.30116762e-03 4.96962534e-02] [ 8.95362092e-04 2.30316417e-03 9.99996947e-01 -6.33207219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.077719421 meters 0.19231393890004286 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.07 [[ 0.99999532 0.00272857 -0.00138381 0.05544617] [-0.00273164 0.9999938 -0.00222149 0.05231895] [ 0.00137774 0.00222526 0.99999658 -0.06619134] [ 0. 0. 0. 1. ]] SLAMing on 1.107719421 meters 0.1910547052547751 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 9.99980244e-01 6.12381596e-03 -1.41761298e-03 5.89343855e-02] [-6.12327846e-03 9.99981179e-01 3.83186356e-04 5.80043076e-02] [ 1.41993286e-03 -3.74498347e-04 9.99998922e-01 -7.03404602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.137719421 meters 0.1910547052547751 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 9.99980244e-01 6.12381596e-03 -1.41761298e-03 5.89343855e-02] [-6.12327846e-03 9.99981179e-01 3.83186356e-04 5.80043076e-02] [ 1.41993286e-03 -3.74498347e-04 9.99998922e-01 -7.03404602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.167719421 meters 0.1906520025809569 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 9.99981673e-01 5.87300604e-03 -1.46997679e-03 5.94539991e-02] [-5.87311210e-03 9.99982751e-01 -6.78447318e-05 6.02118953e-02] [ 1.46955299e-03 7.64768269e-05 9.99998917e-01 -7.08530448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.197719421 meters 0.1841168193928954 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 9.99982453e-01 5.73913892e-03 -1.46859054e-03 5.95257998e-02] [-5.73936221e-03 9.99983519e-01 -1.47869321e-04 6.03671858e-02] [ 1.46771769e-03 1.56295499e-04 9.99998911e-01 -7.09596161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.227719421 meters 0.18483705178656634 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.07 [[ 9.99982802e-01 5.61733297e-03 -1.68568945e-03 6.12992542e-02] [-5.61805486e-03 9.99984129e-01 -4.23815592e-04 6.29017690e-02] [ 1.68328198e-03 4.33278599e-04 9.99998489e-01 -7.28550610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.257719421 meters 0.18119028129770376 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-0.08 [[ 0.9999942 0.00237199 -0.00244313 0.06535214] [-0.00238174 0.99998918 -0.00399577 0.06407975] [ 0.00243362 0.00400157 0.99998903 -0.07637338] [ 0. 0. 0. 1. ]] SLAMing on 1.287719421 meters 0.1825978884734456 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-0.08 [[ 0.99999128 0.0033031 -0.00255464 0.06837954] [-0.00331036 0.99999047 -0.00284483 0.06314841] [ 0.00254522 0.00285326 0.99999269 -0.08002825] [ 0. 0. 0. 1. ]] SLAMing on 1.317719421 meters 0.17526418036558553 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.08 [[ 0.99998758 0.00410832 -0.00282233 0.07094678] [-0.00411699 0.9999868 -0.00307557 0.06763844] [ 0.00280966 0.00308715 0.99999129 -0.0824829 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3477194209999999 meters 0.17488464294231812 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.08 [[ 0.9999884 0.00380076 -0.00295827 0.07180426] [-0.00381251 0.99998483 -0.00397424 0.07230751] [ 0.00294312 0.00398547 0.99998773 -0.08322265] [ 0. 0. 0. 1. ]] SLAMing on 1.3777194209999999 meters 0.17523672908429921 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.08 [[ 0.99998894 0.0036744 -0.00293588 0.07242906] [-0.00368695 0.99998404 -0.00428197 0.07529194] [ 0.0029201 0.00429274 0.99998652 -0.0842385 ] [ 0. 0. 0. 1. ]] SLAMing on 1.407719421 meters 0.16938112090516463 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.08 [[ 0.99999048 0.00351047 -0.00258992 0.07218539] [-0.00352115 0.99998527 -0.0041294 0.07454627] [ 0.00257539 0.00413848 0.99998812 -0.08498168] [ 0. 0. 0. 1. ]] SLAMing on 1.437719421 meters 0.16211893626572205 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 9.99995943e-01 -6.72421946e-04 -2.76807397e-03 7.26550269e-02] [ 6.50061880e-04 9.99967219e-01 -8.07083259e-03 7.44373680e-02] [ 2.77341024e-03 8.06900043e-03 9.99963599e-01 -8.53552768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.467719421 meters 0.15856285679225968 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 9.99995959e-01 -6.38767408e-04 -2.77001701e-03 7.35660738e-02] [ 6.18648703e-04 9.99973470e-01 -7.25781041e-03 7.28611576e-02] [ 2.77457957e-03 7.25606742e-03 9.99969825e-01 -8.70675567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.497719421 meters 0.15668637908934638 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 0.99998142 -0.00535564 -0.00291173 0.07358444] [ 0.00532163 0.99991895 -0.01156621 0.07336902] [ 0.00297344 0.0115505 0.99992887 -0.08705724] [ 0. 0. 0. 1. ]] SLAMing on 1.527719421 meters 0.15175415098247846 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 0.99998085 -0.00551006 -0.00281789 0.07362444] [ 0.0054775 0.99991965 -0.01143213 0.07326329] [ 0.00288066 0.01141648 0.99993068 -0.0875036 ] [ 0. 0. 0. 1. ]] SLAMing on 1.557719421 meters 0.1431928418400356 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 0.99997637 -0.00650981 -0.00221076 0.07176673] [ 0.00648293 0.99990754 -0.0119537 0.07402475] [ 0.00228837 0.01193909 0.99992611 -0.08697135] [ 0. 0. 0. 1. ]] SLAMing on 1.587719421 meters 0.142480663812442 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 0.99999348 -0.00288016 -0.00217622 0.07220357] [ 0.00286392 0.99996828 -0.00743162 0.07220161] [ 0.00219755 0.00742534 0.99997002 -0.08846354] [ 0. 0. 0. 1. ]] SLAMing on 1.6177194209999999 meters 0.13902935127029406 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 0.99999725 0.0013966 -0.00188391 0.07361415] [-0.00140163 0.99999544 -0.0026733 0.07146812] [ 0.00188017 0.00267593 0.99999465 -0.09151532] [ 0. 0. 0. 1. ]] SLAMing on 1.647719421 meters 0.1378219928571003 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.09 [[ 9.99983831e-01 5.40660362e-03 -1.76269372e-03 7.35672206e-02] [-5.40504731e-03 9.99985000e-01 8.86486097e-04 7.36218674e-02] [ 1.76746016e-03 -8.76944320e-04 9.99998054e-01 -9.15958303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.677719421 meters 0.13996336410250534 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.09 [[ 9.99982017e-01 5.54647080e-03 -2.28074976e-03 7.45892535e-02] [-5.54539124e-03 9.99984509e-01 4.79385617e-04 7.56985016e-02] [ 2.28337333e-03 -4.66729347e-04 9.99997284e-01 -9.13595975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.707719421 meters 0.13920431855995752 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.09 [[ 9.99982646e-01 5.31959497e-03 -2.53180153e-03 7.47279221e-02] [-5.31977295e-03 9.99985848e-01 -6.35675537e-05 7.76721846e-02] [ 2.53142755e-03 7.70350599e-05 9.99996793e-01 -9.08402747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.737719421 meters 0.13618663538803888 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.09 [[ 0.9999851 0.00480886 -0.00258474 0.07379296] [-0.00481179 0.99998778 -0.00112996 0.08119358] [ 0.00257927 0.00114238 0.99999602 -0.0893453 ] [ 0. 0. 0. 1. ]] SLAMing on 1.767719421 meters 0.1369422667137475 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-0.09 [[ 0.99998451 0.0048664 -0.00270054 0.07451834] [-0.00486969 0.99998741 -0.00121122 0.08205941] [ 0.00269462 0.00122435 0.99999562 -0.08998491] [ 0. 0. 0. 1. ]] SLAMing on 1.797719421 meters 0.13943334356014836 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.09 [[ 0.99998541 0.00460339 -0.00282756 0.07884733] [-0.00460905 0.99998738 -0.00199709 0.08284715] [ 0.00281833 0.0020101 0.99999401 -0.09497995] [ 0. 0. 0. 1. ]] SLAMing on 1.8277194209999998 meters 0.14038716754543987 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.10 [[ 0.99998062 0.00530082 -0.00326607 0.08143184] [-0.00530575 0.9999848 -0.0015024 0.08343176] [ 0.00325806 0.0015197 0.99999354 -0.09729895] [ 0. 0. 0. 1. ]] SLAMing on 1.8577194209999999 meters 0.1431145196764003 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.10 [[ 0.99997802 0.00552629 -0.00366345 0.08257446] [-0.00553394 0.99998252 -0.00208043 0.08651946] [ 0.00365189 0.00210065 0.99999113 -0.09768187] [ 0. 0. 0. 1. ]] SLAMing on 1.887719421 meters 0.13208404132031165 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.10 [[ 0.99997888 0.0054207 -0.00358608 0.08237187] [-0.00542885 0.99998269 -0.00226681 0.08650005] [ 0.00357373 0.00228623 0.999991 -0.09750037] [ 0. 0. 0. 1. ]] SLAMing on 1.917719421 meters 0.1392690397652673 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.10 [[ 9.99996199e-01 -4.77337953e-04 2.71542906e-03 9.00116934e-02] [ 4.62894986e-04 9.99985758e-01 5.31699691e-03 8.44367169e-02] [-2.71792839e-03 -5.31571974e-03 9.99982178e-01 -1.01804948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.947719421 meters 0.13362939663419315 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.10 [[ 9.99995813e-01 -6.76524629e-04 2.81341638e-03 8.95306484e-02] [ 6.61750440e-04 9.99986005e-01 5.24895355e-03 8.35319459e-02] [-2.81692806e-03 -5.24706979e-03 9.99982266e-01 -1.01286587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.977719421 meters 0.12821458204336217 Centerline is valid? [False, False] Translation: X:0.09, Y:0.08, Z:-0.10 [[ 9.99982483e-01 -5.15050585e-03 2.91657682e-03 8.82574412e-02] [ 5.14764334e-03 9.99986263e-01 9.88119726e-04 8.20339764e-02] [-2.92162607e-03 -9.73088920e-04 9.99995259e-01 -9.95009097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.007719421 meters 0.11752751844094741 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.10 [[ 9.99968053e-01 -7.15868754e-03 3.55626692e-03 8.48645277e-02] [ 7.15760565e-03 9.99974334e-01 3.16853226e-04 7.90252472e-02] [-3.55844390e-03 -2.91388747e-04 9.99993626e-01 -9.64864313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.037719421 meters 0.11682322452312213 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.10 [[ 9.99965063e-01 -7.55406084e-03 3.57900046e-03 8.39684373e-02] [ 7.55241430e-03 9.99971368e-01 4.73347546e-04 7.71439404e-02] [-3.58247369e-03 -4.46300915e-04 9.99993483e-01 -9.51253760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.067719421 meters 0.11083904081093691 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.09 [[ 0.99991044 -0.01277969 0.00397303 0.08160957] [ 0.01279387 0.9999118 -0.00356575 0.07330034] [-0.00392711 0.00361626 0.99998575 -0.09239167] [ 0. 0. 0. 1. ]] SLAMing on 2.097719421 meters 0.11106408734226851 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.09 [[ 0.99991148 -0.01265137 0.00411891 0.08187706] [ 0.01266211 0.99991647 -0.00259244 0.07038212] [-0.00408576 0.00264436 0.99998816 -0.09332868] [ 0. 0. 0. 1. ]] SLAMing on 2.127719421 meters 0.10718962870140782 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.09 [[ 0.99991669 -0.0122837 0.00396611 0.08265351] [ 0.01229164 0.99992249 -0.0019841 0.06890329] [-0.00394143 0.00203268 0.99999017 -0.09392698] [ 0. 0. 0. 1. ]] SLAMing on 2.157719421 meters 0.10923745183713543 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.10 [[ 0.99996804 -0.00715435 0.00356898 0.08429475] [ 0.00714202 0.99996852 0.00345707 0.065629 ] [-0.0035936 -0.00343147 0.99998766 -0.0950051 ] [ 0. 0. 0. 1. ]] SLAMing on 2.187719421 meters 0.10851532340749621 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.09 [[ 0.99997973 0.00581991 -0.00258172 0.08236286] [-0.00582462 0.99998138 -0.00182105 0.06511581] [ 0.00257107 0.00183605 0.99999501 -0.08854319] [ 0. 0. 0. 1. ]] SLAMing on 2.217719421 meters 0.11014525737365326 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.09 [[ 0.99997434 0.00630796 -0.00339664 0.0837053 ] [-0.00631528 0.99997775 -0.00214839 0.06630741] [ 0.00338301 0.00216979 0.99999192 -0.08786069] [ 0. 0. 0. 1. ]] SLAMing on 2.2477194209999998 meters 0.10816775285593817 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.09 [[ 0.99996403 0.00726911 -0.00437058 0.08476519] [-0.00728031 0.99997024 -0.00255214 0.06739772] [ 0.0043519 0.00258387 0.99998719 -0.085723 ] [ 0. 0. 0. 1. ]] SLAMing on 2.277719421 meters 0.10884432807825682 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:-0.09 [[ 0.9999574 0.00785931 -0.00484001 0.08568709] [-0.00786923 0.99996697 -0.00203399 0.06545336] [ 0.00482386 0.00207199 0.99998622 -0.08545311] [ 0. 0. 0. 1. ]] SLAMing on 2.307719421 meters 0.10836970911027433 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.08 [[ 0.99997258 0.00477951 -0.00565578 0.08692684] [-0.00480789 0.99997587 -0.00501445 0.06067751] [ 0.00563167 0.0050415 0.99997143 -0.08453501] [ 0. 0. 0. 1. ]] SLAMing on 2.337719421 meters 0.10748411914577319 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.08 [[ 0.99997253 0.00494186 -0.00552391 0.08661928] [-0.00496533 0.99997868 -0.0042419 0.05699327] [ 0.00550283 0.00426921 0.99997575 -0.0842702 ] [ 0. 0. 0. 1. ]] SLAMing on 2.367719421 meters 0.10233911848192387 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.08 [[ 0.99998371 0.00113751 -0.00559297 0.0856717 ] [-0.0011753 0.99997646 -0.00675933 0.05006456] [ 0.00558515 0.00676579 0.99996151 -0.0824165 ] [ 0. 0. 0. 1. ]] SLAMing on 2.397719421 meters 0.1003435003334497 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.08 [[ 9.99987429e-01 8.75252341e-04 -4.93714337e-03 8.48853025e-02] [-9.03033396e-04 9.99983758e-01 -5.62752924e-03 4.41078070e-02] [ 4.93213767e-03 5.63191690e-03 9.99971977e-01 -8.30253329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.427719421 meters 0.09984975539827237 Centerline is valid? [False, True] Translation: X:0.09, Y:0.04, Z:-0.08 [[ 0.99996607 -0.00577337 -0.00587599 0.08747251] [ 0.00570542 0.99991743 -0.01151425 0.03587244] [ 0.00594198 0.01148033 0.99991644 -0.08350528] [ 0. 0. 0. 1. ]] SLAMing on 2.4577194209999997 meters 0.09577423743378499 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:-0.09 [[ 9.99922367e-01 -1.06587841e-02 -6.45374751e-03 1.18785929e-01] [ 1.06571898e-02 9.99943171e-01 -2.81364427e-04 2.32520559e-02] [ 6.45637975e-03 2.12563772e-04 9.99979135e-01 -8.83282483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.487719421 meters 0.09490162936522879 Centerline is valid? [True, True] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99869768e-01 -1.44408310e-02 -7.20477772e-03 1.50556796e-01] [ 1.44390100e-02 9.99895706e-01 -3.04706308e-04 1.43871465e-02] [ 7.20842651e-03 2.00636768e-04 9.99973999e-01 -9.25339266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.517719421 meters 0.09362264288630848 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:-0.10 [[ 9.99843884e-01 -1.60725281e-02 -7.34040081e-03 1.82702444e-01] [ 1.60706445e-02 9.99870809e-01 -3.15517385e-04 8.44346185e-03] [ 7.34452366e-03 1.97503156e-04 9.99973009e-01 -9.62374037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.547719421 meters 0.09449839798845838 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.00, Z:-0.10 [[ 9.99836751e-01 -1.55604406e-02 -9.18389588e-03 2.14422365e-01] [ 1.55574231e-02 9.99878896e-01 -3.99921385e-04 -1.56543179e-03] [ 9.18900663e-03 2.56978344e-04 9.99957747e-01 -1.00049331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.577719421 meters 0.09270650454940836 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.00, Z:-0.10 [[ 9.99857528e-01 -1.55494924e-02 -6.56780072e-03 2.45303753e-01] [ 1.55479330e-02 9.99879082e-01 -2.88432276e-04 -4.89823695e-03] [ 6.57149153e-03 1.86275458e-04 9.99978390e-01 -1.00931290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.607719421 meters 0.08777878797429446 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.02, Z:-0.09 [[ 9.99790653e-01 -1.97283193e-02 -5.42628245e-03 2.77905805e-01] [ 1.97273267e-02 9.99805369e-01 -2.36394038e-04 -2.02807559e-02] [ 5.42988998e-03 1.29298503e-04 9.99985250e-01 -9.04832877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.637719421 meters 0.08527528224843187 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.03, Z:-0.10 [[ 9.99711638e-01 -2.38886045e-02 -2.44447899e-03 3.07734446e-01] [ 2.38884159e-02 9.99714625e-01 -1.06352745e-04 -2.85798681e-02] [ 2.44632202e-03 4.79273464e-05 9.99997007e-01 -9.69297616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6677194209999997 meters 0.08465056927718956 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.05, Z:-0.10 [[ 9.99517144e-01 -3.07094640e-02 -4.73364980e-03 3.39172761e-01] [ 3.07088334e-02 9.99528351e-01 -2.05868240e-04 -4.74688770e-02] [ 4.73773929e-03 6.04039722e-05 9.99988775e-01 -1.01857661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.697719421 meters 0.08148212406882796 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.06, Z:-0.11 [[ 9.99318575e-01 -3.62981189e-02 -6.69567789e-03 3.70299292e-01] [ 3.62969783e-02 9.99341005e-01 -2.91829968e-04 -6.26627343e-02] [ 6.70185835e-03 4.85982330e-05 9.99977541e-01 -1.08041368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7277194209999998 meters 0.08427492379340483 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.06, Z:-0.12 [[ 9.99388691e-01 -3.38137328e-02 -8.88115667e-03 3.99555411e-01] [ 3.38116293e-02 9.99428148e-01 -3.86938340e-04 -6.32924648e-02] [ 8.88916180e-03 8.64154240e-05 9.99960487e-01 -1.17280103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.757719421 meters 0.08292173558681572 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.06, Z:-0.12 [[ 9.99560948e-01 -2.88068431e-02 -6.93378999e-03 4.31360627e-01] [ 2.88054684e-02 9.99584992e-01 -2.98065369e-04 -6.26851409e-02] [ 6.93949873e-03 9.82034346e-05 9.99975917e-01 -1.18496074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787719421 meters 0.07964289391093156 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.06, Z:-0.11 [[ 9.99644361e-01 -2.61111067e-02 -5.41865817e-03 4.63466457e-01] [ 2.61102260e-02 9.99659043e-01 -2.33230848e-04 -6.20160438e-02] [ 5.42290056e-03 9.16655125e-05 9.99985292e-01 -1.14154791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.817719421 meters 0.08117284752733249 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.06, Z:-0.12 [[ 9.99834727e-01 -1.70011570e-02 -6.44046708e-03 4.93699924e-01] [ 1.69996968e-02 9.99855455e-01 -2.81400864e-04 -5.80042583e-02] [ 6.44432029e-03 1.71868368e-04 9.99979220e-01 -1.18692914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.847719421 meters 0.08003998476458944 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.06, Z:-0.12 [[ 9.99866543e-01 -1.42906919e-02 -7.91654505e-03 5.25105584e-01] [ 1.42884299e-02 9.99897857e-01 -3.42227348e-04 -5.84850322e-02] [ 7.92062710e-03 2.29066677e-04 9.99968605e-01 -1.20937533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.877719421 meters 0.08431530955030292 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.06, Z:-0.13 [[ 9.99900905e-01 -7.36408699e-03 -1.19979011e-02 5.52971627e-01] [ 7.35836968e-03 9.99972791e-01 -5.20601059e-04 -5.79715852e-02] [ 1.20014084e-02 4.32264479e-04 9.99927887e-01 -1.33122486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.907719421 meters 0.08542674652239494 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.06, Z:-0.13 [[ 9.99941931e-01 1.15021079e-03 -1.07150653e-02 5.83310718e-01] [-1.15531374e-03 9.99999222e-01 -4.70063119e-04 -5.50670926e-02] [ 1.07145163e-02 4.82415085e-04 9.99942482e-01 -1.32057343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9377194209999997 meters 0.08416600702277033 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.05, Z:-0.14 [[ 9.99988797e-01 2.55398555e-03 -3.98527706e-03 6.12292963e-01] [-2.55470946e-03 9.99996721e-01 -1.76566969e-04 -5.04553073e-02] [ 3.98481304e-03 1.86746216e-04 9.99992043e-01 -1.35534130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.967719421 meters 0.08536422978045238 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.05, Z:-0.13 [[ 9.99948594e-01 6.47422135e-03 -7.80344431e-03 6.43047552e-01] [-6.47708516e-03 9.99978965e-01 -3.41776146e-04 -5.02516644e-02] [ 7.80106743e-03 3.92302150e-04 9.99969494e-01 -1.32994952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9977194209999998 meters 0.07843522074763283 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.06, Z:-0.13 [[ 9.99961629e-01 3.57405871e-03 7.99788387e-03 6.74649064e-01] [-3.57696545e-03 9.99993542e-01 3.49163125e-04 -6.16243241e-02] [-7.99658429e-03 -3.77757882e-04 9.99967955e-01 -1.32166450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.027719421 meters 0.0829281110110328 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.06, Z:-0.15 [[ 9.99845429e-01 2.14457608e-03 1.74504655e-02 7.02682396e-01] [-2.15822507e-03 9.99997380e-01 7.63361210e-04 -6.44397464e-02] [-1.74487826e-02 -8.00905249e-04 9.99847438e-01 -1.48757095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.057719421 meters 0.0829281110110328 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.06, Z:-0.15 [[ 9.99844725e-01 2.45929739e-03 1.74493087e-02 7.35310115e-01] [-2.47345661e-03 9.99996629e-01 7.89913209e-04 -6.33010325e-02] [-1.74473072e-02 -8.32950663e-04 9.99847437e-01 -1.52117666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087719421 meters 0.07954190350282359 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.07, Z:-0.15 [[ 9.99754740e-01 4.95953695e-04 2.21407750e-02 7.66515028e-01] [-5.17355752e-04 9.99999404e-01 9.60917845e-04 -6.99591388e-02] [-2.21402852e-02 -9.72136828e-04 9.99754401e-01 -1.49264121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117719421 meters 0.07865627745818017 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.08, Z:-0.15 [[ 9.99761788e-01 -3.17143479e-03 2.15942000e-02 7.98328979e-01] [ 3.15185704e-03 9.99994591e-01 9.40595222e-04 -8.25276385e-02] [-2.15970663e-02 -8.72309330e-04 9.99766376e-01 -1.51431402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.147719421 meters 0.0812147333447452 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.09, Z:-0.16 [[ 9.99822710e-01 -3.73543813e-03 1.84552276e-02 8.27593679e-01] [ 3.72119004e-03 9.99992751e-01 8.06316073e-04 -8.63752373e-02] [-1.84581058e-02 -7.37497712e-04 9.99829363e-01 -1.58326652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.177719421 meters 0.07454677135408284 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.10, Z:-0.15 [[ 9.99557074e-01 -9.91364958e-03 2.80601994e-02 8.59878167e-01] [ 9.88342955e-03 9.99950419e-01 1.21546290e-03 -1.01671281e-01] [-2.80708579e-02 -9.37593540e-04 9.99605496e-01 -1.51541949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2077194209999997 meters 0.07380790381628256 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.11, Z:-0.15 [[ 9.99472060e-01 -1.15302777e-02 3.03752103e-02 8.89646449e-01] [ 1.14956729e-02 9.99933060e-01 1.31363516e-03 -1.06871333e-01] [-3.03883235e-02 -9.63758159e-04 9.99537704e-01 -1.52661841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.237719421 meters 0.06924178602810581 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.12, Z:-0.15 [[ 0.9990442 -0.0145682 0.04121224 0.92196782] [ 0.01450691 0.99989317 0.00178594 -0.11866841] [-0.04123385 -0.00118637 0.99914882 -0.14750602] [ 0. 0. 0. 1. ]] SLAMing on 3.267719421 meters 0.06968484976788568 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.12, Z:-0.15 [[ 0.99906701 -0.01438091 0.04072224 0.95390386] [ 0.0143203 0.99989588 0.00177956 -0.12031023] [-0.04074359 -0.00119475 0.99916892 -0.15026137] [ 0. 0. 0. 1. ]] SLAMing on 3.297719421 meters 0.06698215084830066 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.12, Z:-0.15 [[ 0.99864161 -0.01656977 0.04940012 0.98372578] [ 0.01648495 0.99986186 0.00212392 -0.12160298] [-0.04942849 -0.00130668 0.99877681 -0.14576819] [ 0. 0. 0. 1. ]] SLAMing on 3.327719421 meters 0.06704709862344879 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.13, Z:-0.15 [[ 9.98746352e-01 -2.15782444e-02 4.51674971e-02 1.01453428e+00] [ 2.15117062e-02 9.99766678e-01 1.95874547e-03 -1.29917642e-01] [-4.51992248e-02 -9.84659969e-04 9.98977508e-01 -1.54229593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.357719421 meters 0.06634059087812229 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.14, Z:-0.16 [[ 9.98721651e-01 -2.46275416e-02 4.41423631e-02 1.04720351e+00] [ 2.45672806e-02 9.99696360e-01 1.90720677e-03 -1.36320631e-01] [-4.41759295e-02 -8.20310870e-04 9.99023430e-01 -1.59286001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.387719421 meters 0.0632777933457486 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.14, Z:-0.16 [[ 9.98313534e-01 -2.91616646e-02 5.01964641e-02 1.07803375e+00] [ 2.90911786e-02 9.99574483e-01 2.13438371e-03 -1.43611490e-01] [-5.02373469e-02 -6.70509843e-04 9.98737082e-01 -1.57787520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4177194209999997 meters 0.060618022718073615 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.15, Z:-0.15 [[ 9.97786604e-01 -3.58445069e-02 5.60095087e-02 1.10850785e+00] [ 3.57672879e-02 9.99357310e-01 2.38083414e-03 -1.50953911e-01] [-5.60588518e-02 -3.72256193e-04 9.98427397e-01 -1.52651977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.447719421 meters 0.05954701847498823 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.15, Z:-0.15 [[ 9.97505138e-01 -3.85014390e-02 5.91704177e-02 1.14022265e+00] [ 3.84197044e-02 9.99258516e-01 2.51879759e-03 -1.52371753e-01] [-5.92235212e-02 -2.39203576e-04 9.98244718e-01 -1.51096794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4777194209999998 meters 0.05774077749108575 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.16, Z:-0.15 [[ 9.96827039e-01 -4.11269758e-02 6.81500286e-02 1.17095058e+00] [ 4.10249157e-02 9.99153924e-01 2.89704977e-03 -1.56128031e-01] [-6.82115154e-02 -9.20083653e-05 9.97670878e-01 -1.46701115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.507719421 meters 0.057580219160746765 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.16, Z:-0.15 [[ 9.96733029e-01 -3.94129027e-02 7.04974548e-02 1.20299096e+00] [ 3.92989004e-02 9.99222985e-01 3.00388445e-03 -1.55341343e-01] [-7.05610690e-02 -2.23598395e-04 9.97507436e-01 -1.48050045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.537719421 meters 0.05821343349784798 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.15, Z:-0.15 [[ 9.96951725e-01 -3.79338945e-02 6.81782789e-02 1.23474822e+00] [ 3.78253260e-02 9.99280207e-01 2.88311612e-03 -1.54094968e-01] [-6.82385725e-02 -2.95461962e-04 9.97668988e-01 -1.54781998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.567719421 meters 0.058779609330010696 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.16, Z:-0.16 [[ 9.97042331e-01 -3.71901344e-02 6.72568492e-02 1.26624641e+00] [ 3.70826962e-02 9.99308149e-01 2.84560608e-03 -1.55883586e-01] [-6.73161459e-02 -3.43124413e-04 9.97731637e-01 -1.61212938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.597719421 meters 0.058962691505453454 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.16, Z:-0.17 [[ 9.97114817e-01 -3.71474501e-02 6.61974948e-02 1.29793931e+00] [ 3.70443241e-02 9.99309743e-01 2.78506580e-03 -1.55582813e-01] [-6.62552596e-02 -3.24788924e-04 9.97802653e-01 -1.66251218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6277194209999997 meters 0.059506230414992874 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.16, Z:-0.17 [[ 9.97274780e-01 -3.76778744e-02 6.34302092e-02 1.32952758e+00] [ 3.75852283e-02 9.99289902e-01 2.65361193e-03 -1.55300775e-01] [-6.34851500e-02 -2.62341365e-04 9.97982749e-01 -1.71909647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.657719421 meters 0.061289442885900616 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.16, Z:-0.18 [[ 9.97586262e-01 -3.84168730e-02 5.78428443e-02 1.35905557e+00] [ 3.83422789e-02 9.99261784e-01 2.39930071e-03 -1.56340781e-01] [-5.78923174e-02 -1.75682959e-04 9.98322818e-01 -1.83824544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6877194209999997 meters 0.06182474333327052 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.16, Z:-0.19 [[ 9.97700307e-01 -3.86837554e-02 5.56566658e-02 1.39056041e+00] [ 3.86145896e-02 9.99251490e-01 2.31800373e-03 -1.56570702e-01] [-5.57046753e-02 -1.63513724e-04 9.98447276e-01 -1.89652551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.717719421 meters 0.06234836167321079 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.15, Z:-0.19 [[ 9.97762654e-01 -3.53422378e-02 5.67504428e-02 1.42162161e+00] [ 3.52656726e-02 9.99375209e-01 2.35038124e-03 -1.46945716e-01] [-5.67980534e-02 -3.43780090e-04 9.98385628e-01 -1.90756277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7477194209999998 meters 0.06188467138019155 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.14, Z:-0.19 [[ 9.97894021e-01 -2.97041569e-02 5.76644193e-02 1.45522774e+00] [ 2.96162571e-02 9.99558512e-01 2.37853788e-03 -1.36075352e-01] [-5.77096137e-02 -6.65724455e-04 9.98333190e-01 -1.85504094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.777719421 meters 0.06175867139207376 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.13, Z:-0.19 [[ 9.98059445e-01 -2.67989770e-02 5.62064002e-02 1.48772092e+00] [ 2.67123228e-02 9.99640533e-01 2.29257857e-03 -1.32665665e-01] [-5.62476347e-02 -7.86726192e-04 9.98416539e-01 -1.86031780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.807719421 meters 0.0637429666115154 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.12, Z:-0.20 [[ 9.98308283e-01 -2.25099391e-02 5.36085328e-02 1.51654324e+00] [ 2.24253525e-02 9.99746146e-01 2.17893987e-03 -1.24501943e-01] [-5.36439719e-02 -9.73063473e-04 9.98559651e-01 -1.95644896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.837719421 meters 0.06571565348594952 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.12, Z:-0.21 [[ 9.98430944e-01 -2.10150495e-02 5.19039303e-02 1.54617871e+00] [ 2.09336430e-02 9.99778637e-01 2.11160587e-03 -1.19493678e-01] [-5.19368162e-02 -1.02175430e-03 9.98649850e-01 -2.05040983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.867719421 meters 0.06546662228215384 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.12, Z:-0.21 [[ 9.98498488e-01 -1.89744834e-02 5.13881091e-02 1.57814384e+00] [ 1.88918301e-02 9.99819341e-01 2.09370817e-03 -1.17661012e-01] [-5.14185524e-02 -1.11974902e-03 9.98676564e-01 -2.05189321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8977194209999997 meters 0.06729901462182343 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.11, Z:-0.21 [[ 9.98513262e-01 -1.34079235e-02 5.28345889e-02 1.60935467e+00] [ 1.33128869e-02 9.99909067e-01 2.15029885e-03 -1.09849007e-01] [-5.28586155e-02 -1.44372101e-03 9.98600963e-01 -2.05954478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.927719421 meters 0.07033917938793284 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.10, Z:-0.20 [[ 0.9984175 -0.0062787 0.05588453 1.6409766 ] [ 0.00616202 0.99997846 0.00225996 -0.10209587] [-0.05589752 -0.00191203 0.99843468 -0.20373738] [ 0. 0. 0. 1. ]] SLAMing on 3.9577194209999997 meters 0.0720926425366024 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.10, Z:-0.20 [[ 0.99838426 -0.0027531 0.05675638 1.67290491] [ 0.00262842 0.99999397 0.00227138 -0.09877854] [-0.05676229 -0.00211853 0.99838547 -0.20454481] [ 0. 0. 0. 1. ]] SLAMing on 3.987719421 meters 0.0763621018448146 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.10, Z:-0.21 [[ 0.99827612 0.004326 0.05853268 1.70302439] [-0.00447029 0.99998728 0.00233456 -0.09621042] [-0.05852184 -0.00259219 0.99828276 -0.20562243] [ 0. 0. 0. 1. ]] SLAMing on 4.017719421 meters 0.07698929814008114 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.10, Z:-0.21 [[ 0.99812133 0.005933 0.06098035 1.73579854] [-0.00609286 0.99997847 0.00243598 -0.09817479] [-0.06096458 -0.00280295 0.99813599 -0.20763469] [ 0. 0. 0. 1. ]] SLAMing on 4.047719420999999 meters 0.07847003875409146 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.11, Z:-0.21 [[ 0.99794502 0.003951 0.06395404 1.76604246] [-0.00412218 0.99998827 0.0025449 -0.1055583 ] [-0.06394323 -0.0028033 0.9979496 -0.21218641] [ 0. 0. 0. 1. ]] SLAMing on 4.077719420999999 meters 0.07417769000057005 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.12, Z:-0.21 [[ 9.97950986e-01 1.14958647e-03 6.39727180e-02 1.79818796e+00] [-1.31521766e-03 9.99995891e-01 2.54703913e-03 -1.17441797e-01] [-6.39695271e-02 -2.62595826e-03 9.97948397e-01 -2.12590547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.107719421 meters 0.0751778925231567 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.13, Z:-0.23 [[ 0.99815287 -0.0029538 0.06068044 1.8293089 ] [ 0.00281196 0.99999311 0.00242287 -0.12853261] [-0.06068717 -0.00224776 0.9981543 -0.22523132] [ 0. 0. 0. 1. ]] SLAMing on 4.137719420999999 meters 0.0727217386241157 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.14, Z:-0.23 [[ 0.99825676 -0.00449143 0.05884953 1.86187374] [ 0.00436153 0.99998776 0.00233562 -0.13739523] [-0.0588593 -0.00207487 0.99826413 -0.22679665] [ 0. 0. 0. 1. ]] SLAMing on 4.167719420999999 meters 0.07341430683945095 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.14, Z:-0.23 [[ 0.99837191 -0.00495903 0.05682366 1.89251517] [ 0.00483977 0.99998579 0.00223624 -0.14437586] [-0.05683394 -0.00195759 0.99838173 -0.23234042] [ 0. 0. 0. 1. ]] SLAMing on 4.1977194209999995 meters 0.07435942299382019 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.15, Z:-0.24 [[ 0.99844987 -0.00446204 0.05547921 1.92386075] [ 0.00434769 0.99998817 0.00218163 -0.14633168] [-0.05548829 -0.00193704 0.99845746 -0.23808745] [ 0. 0. 0. 1. ]] SLAMing on 4.227719421 meters 0.07649128045231557 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.15, Z:-0.24 [[ 9.98583253e-01 -2.54663663e-03 5.31507512e-02 1.95341038e+00] [ 2.44017847e-03 9.99994885e-01 2.06774608e-03 -1.48769940e-01] [-5.31557451e-02 -1.93511928e-03 9.98584359e-01 -2.44712905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.257719420999999 meters 0.0773383699309345 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.15, Z:-0.25 [[ 9.98542684e-01 -1.05661236e-03 5.39573126e-02 1.98595079e+00] [ 9.44003531e-04 9.99997323e-01 2.11244238e-03 -1.47068075e-01] [-5.39594002e-02 -2.05842799e-03 9.98541009e-01 -2.47704971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.287719420999999 meters 0.0761181277960638 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.15, Z:-0.24 [[ 9.98237928e-01 -1.00110761e-03 5.93298905e-02 2.01645267e+00] [ 8.66686694e-04 9.99996999e-01 2.29134207e-03 -1.46047893e-01] [-5.93320064e-02 -2.23588413e-03 9.98235801e-01 -2.43424733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.317719421 meters 0.07473126301399068 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.14, Z:-0.24 [[ 9.98022711e-01 -1.17115639e-03 6.28434292e-02 2.04847469e+00] [ 1.02039427e-03 9.99996524e-01 2.43105232e-03 -1.44675568e-01] [-6.28460580e-02 -2.36212035e-03 9.98020437e-01 -2.40614060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.347719421 meters 0.07178010180545276 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.15, Z:-0.24 [[ 0.99776156 -0.00464652 0.06671043 2.07855119] [ 0.00448492 0.99998664 0.00257196 -0.14503753] [-0.06672149 -0.00226701 0.99776906 -0.23667456] [ 0. 0. 0. 1. ]] SLAMing on 4.377719420999999 meters 0.0697390065368137 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.15, Z:-0.24 [[ 9.97731636e-01 -8.22420753e-03 6.68127609e-02 2.11024794e+00] [ 8.06989483e-03 9.99964112e-01 2.57919300e-03 -1.49201031e-01] [-6.68315749e-02 -2.03417050e-03 9.97762197e-01 -2.39747147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4077194209999995 meters 0.06052245635422554 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.17, Z:-0.23 [[ 9.97649685e-01 -1.62414167e-02 6.65681715e-02 2.14314776e+00] [ 1.61063927e-02 9.99866995e-01 2.56457236e-03 -1.72462412e-01] [-6.66009698e-02 -1.48637169e-03 9.97778583e-01 -2.27841981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.437719421 meters 0.06443362716583143 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.17, Z:-0.25 [[ 9.97544586e-01 -1.87952412e-02 6.74650881e-02 2.17229823e+00] [ 1.86617322e-02 9.99822452e-01 2.60867143e-03 -1.67474371e-01] [-6.75021404e-02 -1.34325066e-03 9.97718225e-01 -2.47177341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467719420999999 meters 0.06273514745711525 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.17, Z:-0.25 [[ 9.97456868e-01 -2.18635664e-02 6.78364263e-02 2.20468006e+00] [ 2.17370436e-02 9.99760335e-01 2.60277728e-03 -1.72966742e-01] [-6.78770742e-02 -1.12159473e-03 9.97693061e-01 -2.49002405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.497719420999999 meters 0.06276304106628533 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.18, Z:-0.25 [[ 9.97444925e-01 -2.34810327e-02 6.74704644e-02 2.23597484e+00] [ 2.33606577e-02 9.99723792e-01 2.57264492e-03 -1.77732858e-01] [-6.75122369e-02 -9.89917196e-04 9.97717955e-01 -2.54514801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527719421 meters 0.06222612707730533 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.18, Z:-0.26 [[ 9.97382419e-01 -2.34401127e-02 6.84022758e-02 2.26815238e+00] [ 2.33172718e-02 9.99724751e-01 2.59382907e-03 -1.80363400e-01] [-6.84442478e-02 -9.92085055e-04 9.97654450e-01 -2.56107354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.557719421 meters 0.05834255875288169 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.19, Z:-0.24 [[ 9.97279301e-01 -2.30397612e-02 7.00226082e-02 2.30273850e+00] [ 2.29110246e-02 9.99734019e-01 2.64118253e-03 -1.89180739e-01] [-7.00648357e-02 -1.02970697e-03 9.97541908e-01 -2.41046604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587719420999999 meters 0.05903117985411325 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.19, Z:-0.25 [[ 9.97473637e-01 -2.04924898e-02 6.80176527e-02 2.33447389e+00] [ 2.03669615e-02 9.99789349e-01 2.53854437e-03 -1.88733523e-01] [-6.80553458e-02 -1.14681817e-03 9.97680888e-01 -2.45751132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.617719420999999 meters 0.06631314832497329 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.17, Z:-0.27 [[ 9.97683444e-01 -1.58468295e-02 6.61560621e-02 2.36267428e+00] [ 1.57177980e-02 9.99873416e-01 2.47047311e-03 -1.72959907e-01] [-6.61868369e-02 -1.42492250e-03 9.97806230e-01 -2.69889648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647719421 meters 0.06402790953459302 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.17, Z:-0.26 [[ 9.98006217e-01 -5.12594627e-03 6.29071994e-02 2.39481326e+00] [ 4.98968490e-03 9.99984853e-01 2.32297864e-03 -1.73498014e-01] [-6.29181540e-02 -2.00446002e-03 9.98016677e-01 -2.56872547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.677719420999999 meters 0.0675582461580629 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.17, Z:-0.26 [[ 9.98015213e-01 4.40630448e-03 6.28189335e-02 2.42494867e+00] [-4.56090966e-03 9.99986913e-01 2.31793836e-03 -1.66566851e-01] [-6.28078978e-02 -2.59984922e-03 9.98022249e-01 -2.61533893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707719420999999 meters 0.06922414394658886 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.16, Z:-0.27 [[ 9.97977550e-01 6.46135392e-03 6.32381339e-02 2.45608827e+00] [-6.62279991e-03 9.99975322e-01 2.34369897e-03 -1.63858280e-01] [-6.32214299e-02 -2.75777247e-03 9.97995714e-01 -2.66393563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7377194209999995 meters 0.06795474850683089 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.17, Z:-0.27 [[ 9.98077596e-01 6.68251346e-03 6.16153983e-02 2.48873956e+00] [-6.83524225e-03 9.99974067e-01 2.26829633e-03 -1.67469215e-01] [-6.15986425e-02 -2.68509192e-03 9.98097389e-01 -2.67776101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.767719421 meters 0.06748551285467554 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.17, Z:-0.27 [[ 9.98201083e-01 2.62877110e-03 5.98973038e-02 2.52026016e+00] [-2.76475279e-03 9.99993786e-01 2.18748519e-03 -1.73380312e-01] [-5.98911811e-02 -2.34915133e-03 9.98202148e-01 -2.73116663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.797719420999999 meters 0.06515937832664906 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.18, Z:-0.27 [[ 9.98067619e-01 -8.79132932e-04 6.21309531e-02 2.55110206e+00] [ 7.41578631e-04 9.99997223e-01 2.23696669e-03 -1.79869106e-01] [-6.21327471e-02 -2.18656903e-03 9.98065499e-01 -2.73302947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.827719420999999 meters 0.06176280395226891 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.19, Z:-0.27 [[ 9.97777553e-01 -7.69633300e-03 6.61870197e-02 2.58226452e+00] [ 7.55515727e-03 9.99968620e-01 2.38302242e-03 -1.91873960e-01] [-6.62032833e-02 -1.87767293e-03 9.97804389e-01 -2.71410850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.857719421 meters 0.06133690729838995 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.19, Z:-0.28 [[ 9.97603869e-01 -1.18181601e-02 6.81678224e-02 2.61258236e+00] [ 1.16779471e-02 9.99928797e-01 2.45502073e-03 -1.94549757e-01] [-6.81919824e-02 -1.65307795e-03 9.97670848e-01 -2.75445502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887719420999999 meters 0.05834140174726271 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.21, Z:-0.27 [[ 9.97300007e-01 -1.93488249e-02 7.08400912e-02 2.64379723e+00] [ 1.92165058e-02 9.99812097e-01 2.54894977e-03 -2.06970024e-01] [-7.08760993e-02 -1.18076860e-03 9.97484428e-01 -2.73343493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.917719420999999 meters 0.057585266098532234 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.21, Z:-0.28 [[ 9.97224401e-01 -2.26148912e-02 7.09370149e-02 2.67610750e+00] [ 2.24897917e-02 9.99743790e-01 2.56182229e-03 -2.10494916e-01] [-7.09767754e-02 -9.59353016e-04 9.97477507e-01 -2.75498554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9477194209999995 meters 0.057585266098532234 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.21, Z:-0.28 [[ 9.97232048e-01 -2.22729025e-02 7.09377249e-02 2.70854743e+00] [ 2.21483504e-02 9.99751464e-01 2.54197656e-03 -2.09585519e-01] [-7.09767115e-02 -9.63786895e-04 9.97477507e-01 -2.78831565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.977719421 meters 0.05675979982040184 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.22, Z:-0.28 [[ 9.96875423e-01 -3.22754560e-02 7.20949744e-02 2.73891319e+00] [ 3.21754455e-02 9.99478987e-01 2.54843276e-03 -2.20223157e-01] [-7.21396638e-02 -2.20782062e-04 9.97394516e-01 -2.83273355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.007719420999999 meters 0.05634258261299018 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.23, Z:-0.28 [[ 9.96747359e-01 -3.73387358e-02 7.14179328e-02 2.77154856e+00] [ 3.72530860e-02 9.99302657e-01 2.53133678e-03 -2.26597377e-01] [-7.14626469e-02 1.37435138e-04 9.97443267e-01 -2.83734286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.037719420999999 meters 0.0573608649744883 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.24, Z:-0.29 [[ 9.96245352e-01 -4.81393622e-02 7.19569304e-02 2.80310413e+00] [ 4.80821160e-02 9.98840186e-01 2.52852462e-03 -2.40041021e-01] [-7.19951953e-02 9.40810574e-04 9.97404535e-01 -2.87640852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.067719421 meters 0.0580775747723415 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.24, Z:-0.29 [[ 9.96083816e-01 -5.20573067e-02 7.14637571e-02 2.83488450e+00] [ 5.20122692e-02 9.98643336e-01 2.49221185e-03 -2.44068720e-01] [-7.14965427e-02 1.23454029e-03 9.97440084e-01 -2.91292095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.097719420999999 meters 0.059997808884588937 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.25, Z:-0.29 [[ 9.95453191e-01 -5.67773977e-02 7.64805260e-02 2.86613072e+00] [ 5.67414104e-02 9.98385404e-01 2.64521130e-03 -2.50290508e-01] [-7.65072290e-02 1.70642888e-03 9.97067566e-01 -2.94084360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.127719420999999 meters 0.05881504045192031 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.24, Z:-0.29 [[ 9.95540791e-01 -5.45207100e-02 7.69806807e-02 2.89824840e+00] [ 5.44790717e-02 9.98511416e-01 2.64239332e-03 -2.40055780e-01] [-7.70101536e-02 1.56322569e-03 9.97029083e-01 -2.93573174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1577194209999995 meters 0.05688409579678225 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.23, Z:-0.29 [[ 9.95655622e-01 -5.25303675e-02 7.68793985e-02 2.93095837e+00] [ 5.24843615e-02 9.98618309e-01 2.62017062e-03 -2.27575341e-01] [-7.69108134e-02 1.42617854e-03 9.97036957e-01 -2.90073576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.187719421 meters 0.056891828093011715 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.22, Z:-0.30 [[ 9.95934490e-01 -5.05400945e-02 7.45666892e-02 2.96172887e+00] [ 5.04929071e-02 9.98721243e-01 2.51906456e-03 -2.21182358e-01] [-7.45986503e-02 1.25626563e-03 9.97212847e-01 -2.95184502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.217719420999999 meters 0.056919508020532875 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.21, Z:-0.30 [[ 9.96650695e-01 -4.53340891e-02 6.80603539e-02 2.99307756e+00] [ 4.52842132e-02 9.98971550e-01 2.27625361e-03 -2.08833053e-01] [-6.80935492e-02 8.13429833e-04 9.97678609e-01 -3.04108718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.247719420999999 meters 0.05702100194641855 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.20, Z:-0.31 [[ 9.96974640e-01 -4.17700804e-02 6.55501900e-02 3.02362939e+00] [ 4.17160077e-02 9.99127100e-01 2.19400516e-03 -2.03295469e-01] [-6.55846149e-02 5.47124720e-04 9.97846861e-01 -3.11651603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.277719421 meters 0.056788329032697205 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.19, Z:-0.32 [[ 9.97353128e-01 -3.22405682e-02 6.51711897e-02 3.05501146e+00] [ 3.21679366e-02 9.99480136e-01 2.16376792e-03 -1.89485530e-01] [-6.52070706e-02 -6.16180097e-05 9.97871752e-01 -3.17107613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.307719420999999 meters 0.0576674776510888 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.17, Z:-0.32 [[ 9.97732206e-01 -2.04935308e-02 6.41128723e-02 3.08616609e+00] [ 2.04002531e-02 9.99789668e-01 2.10926138e-03 -1.71360610e-01] [-6.41426136e-02 -7.96559189e-04 9.97940424e-01 -3.20440787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.337719420999999 meters 0.05837842822391874 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.16, Z:-0.32 [[ 9.97828314e-01 -1.51939862e-02 6.40921085e-02 3.11760160e+00] [ 1.50910074e-02 9.99883939e-01 2.09055877e-03 -1.62273501e-01] [-6.41164338e-02 -1.11880425e-03 9.97941797e-01 -3.22727766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.367719420999999 meters 0.05930543325069438 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.15, Z:-0.33 [[ 9.97845357e-01 -1.03007423e-02 6.47961234e-02 3.14917640e+00] [ 1.01863468e-02 9.99945922e-01 2.09559420e-03 -1.53914580e-01] [-6.48142056e-02 -1.43104316e-03 9.97896323e-01 -3.25682637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.397719421 meters 0.060208634924624714 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.15, Z:-0.33 [[ 9.97748496e-01 -4.55592842e-03 6.69117513e-02 3.18133833e+00] [ 4.42243820e-03 9.99987925e-01 2.14300690e-03 -1.47665411e-01] [-6.69207067e-02 -1.84226883e-03 9.97756596e-01 -3.27366307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.427719420999999 meters 0.06110788754005168 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.15, Z:-0.33 [[ 9.97619920e-01 -2.52838033e-03 6.89064766e-02 3.21233521e+00] [ 2.38354996e-03 9.99994774e-01 2.18397753e-03 -1.45331157e-01] [-6.89116384e-02 -2.01453745e-03 9.97620733e-01 -3.31214844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.457719420999999 meters 0.06124907635090447 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.15, Z:-0.34 [[ 9.97652936e-01 -6.76794982e-04 6.84701500e-02 3.24408292e+00] [ 5.30710632e-04 9.99997544e-01 2.15171574e-03 -1.45389196e-01] [-6.84714381e-02 -2.11032769e-03 9.97650845e-01 -3.35316253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4877194209999995 meters 0.06120533382219072 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.15, Z:-0.34 [[ 9.97643468e-01 -1.11232443e-03 6.86022893e-02 3.27591541e+00] [ 9.68141849e-04 9.99997252e-01 2.13492845e-03 -1.46339126e-01] [-6.86044755e-02 -2.06348068e-03 9.97641803e-01 -3.38274977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.517719421 meters 0.06023138368885107 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.15, Z:-0.34 [[ 9.97689492e-01 -3.51527936e-03 6.78477768e-02 3.30834392e+00] [ 3.38115813e-03 9.99992097e-01 2.09152966e-03 -1.50254388e-01] [-6.78545929e-02 -1.85729310e-03 9.97693492e-01 -3.41222088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.547719420999999 meters 0.05806151632690187 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.16, Z:-0.34 [[ 9.97523468e-01 -1.18506294e-02 6.93288717e-02 3.33908683e+00] [ 1.17329002e-02 9.99928951e-01 2.10509778e-03 -1.61397318e-01] [-6.93488927e-02 -1.28645570e-03 9.97591638e-01 -3.42864732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.577719420999999 meters 0.05705513430405804 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.17, Z:-0.35 [[ 9.97445459e-01 -1.79581551e-02 6.91379851e-02 3.37188340e+00] [ 1.78554754e-02 9.99838367e-01 2.10288965e-03 -1.68317367e-01] [-6.91645741e-02 -8.63026140e-04 9.97604890e-01 -3.45967723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.607719421 meters 0.05604168322384077 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.19, Z:-0.35 [[ 9.96943218e-01 -3.33644544e-02 7.06472444e-02 3.40343499e+00] [ 3.32965534e-02 9.99443227e-01 2.13886382e-03 -1.87232487e-01] [-7.06792720e-02 2.19983967e-04 9.97499069e-01 -3.48320024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.637719420999999 meters 0.056531203586306325 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.20, Z:-0.35 [[ 9.96669497e-01 -4.02439149e-02 7.09248917e-02 3.43473387e+00] [ 4.01928309e-02 9.99189633e-01 2.14782029e-03 -1.96202939e-01] [-7.09538532e-02 7.10005212e-04 9.97479346e-01 -3.52135767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.667719420999999 meters 0.058077967451244925 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.21, Z:-0.36 [[ 9.96120531e-01 -5.02389141e-02 7.22491512e-02 3.46657640e+00] [ 5.02127673e-02 9.98736166e-01 2.17929314e-03 -2.09510752e-01] [-7.22673255e-02 1.45699117e-03 9.97384234e-01 -3.55061559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6977194209999995 meters 0.058844934004093644 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.21, Z:-0.36 [[ 9.95961074e-01 -5.45443878e-02 7.13193373e-02 3.49866728e+00] [ 5.45316737e-02 9.98509776e-01 2.12677512e-03 -2.13746238e-01] [-7.13290592e-02 1.77097759e-03 9.97451266e-01 -3.57801277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.727719421 meters 0.05888765935216339 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.21, Z:-0.36 [[ 9.96062640e-01 -5.53751571e-02 6.92301112e-02 3.53020456e+00] [ 5.53651113e-02 9.98464040e-01 2.06534687e-03 -2.13237096e-01] [-6.92381454e-02 1.77571795e-03 9.97598580e-01 -3.61416067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.757719420999999 meters 0.0591919118098262 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.21, Z:-0.37 [[ 9.96112253e-01 -5.57624630e-02 6.81977006e-02 3.56198406e+00] [ 5.57548375e-02 9.98442453e-01 2.01668932e-03 -2.13727767e-01] [-6.82039350e-02 1.79350277e-03 9.97669788e-01 -3.66481049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.787719420999999 meters 0.059235802039063847 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.21, Z:-0.37 [[ 9.96107425e-01 -5.52991875e-02 6.86439900e-02 3.59323976e+00] [ 5.52921028e-02 9.98468209e-01 2.00464043e-03 -2.13435553e-01] [-6.86496968e-02 1.79863334e-03 9.97639205e-01 -3.69677381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.817719421 meters 0.05833634701633368 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.21, Z:-0.37 [[ 9.96240750e-01 -5.16702586e-02 6.95309520e-02 3.62492515e+00] [ 5.16552565e-02 9.98662943e-01 2.01494523e-03 -2.09834338e-01] [-6.95420980e-02 1.58426862e-03 9.97577760e-01 -3.72415742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.847719420999999 meters 0.057146832850480875 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.20, Z:-0.37 [[ 9.96444033e-01 -4.76904619e-02 6.94615692e-02 3.65713237e+00] [ 4.76655788e-02 9.98861315e-01 2.01659678e-03 -2.03680031e-01] [-6.94786467e-02 1.30150007e-03 9.97582590e-01 -3.72399524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.877719420999999 meters 0.05577925912832939 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.19, Z:-0.37 [[ 9.96856427e-01 -3.73470368e-02 6.98746241e-02 3.68730419e+00] [ 3.72984056e-02 9.99302169e-01 2.00100618e-03 -1.91285045e-01] [-6.99005950e-02 6.11496199e-04 9.97553774e-01 -3.74215485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9077194209999995 meters 0.055545412288046395 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.18, Z:-0.38 [[ 9.97043165e-01 -3.06304982e-02 7.04748119e-02 3.71880227e+00] [ 3.05645435e-02 9.99530766e-01 2.01428182e-03 -1.82790767e-01] [-7.05034411e-02 1.45704534e-04 9.97511526e-01 -3.76862783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.937719421 meters 0.0561411457247245 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.17, Z:-0.38 [[ 9.97222377e-01 -1.84550242e-02 7.21591446e-02 3.74905007e+00] [ 1.83557230e-02 9.99829440e-01 2.03908814e-03 -1.65603706e-01] [-7.21844686e-02 -7.08891053e-04 9.97391047e-01 -3.79881030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.967719420999999 meters 0.05689737666824717 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.16, Z:-0.38 [[ 9.97231789e-01 -1.27966712e-02 7.32461925e-02 3.78081913e+00] [ 1.26806324e-02 9.99917498e-01 2.04905927e-03 -1.57046028e-01] [-7.32663707e-02 -1.11457900e-03 9.97311785e-01 -3.82035737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.997719420999999 meters 0.059921904600598895 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.15, Z:-0.39 [[ 9.97417202e-01 -3.01451523e-03 7.17623713e-02 3.81038543e+00] [ 2.87988394e-03 9.99993894e-01 1.97946419e-03 -1.45870714e-01] [-7.17679002e-02 -1.76768433e-03 9.97419793e-01 -3.89338462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.027719421 meters 0.06025715509668981 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.14, Z:-0.39 [[ 9.97530263e-01 1.06489636e-03 7.02299084e-02 3.84132613e+00] [-1.20382133e-03 9.99997402e-01 1.93585063e-03 -1.44768254e-01] [-7.02276644e-02 -2.01561385e-03 9.97528953e-01 -3.92361247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.057719420999999 meters 0.061501062298541374 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.14, Z:-0.40 [[ 9.97641097e-01 5.54815386e-03 6.84211906e-02 3.87212245e+00] [-5.69042276e-03 9.99982034e-01 1.88458319e-03 -1.40269604e-01] [-6.84095054e-02 -2.26948314e-03 9.97654744e-01 -3.96261781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.087719420999999 meters 0.062317529465903576 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.14, Z:-0.40 [[ 9.97635302e-01 7.22437847e-03 6.83492015e-02 3.90319967e+00] [-7.37078149e-03 9.99971049e-01 1.89003654e-03 -1.35448377e-01] [-6.83335684e-02 -2.38935421e-03 9.97659669e-01 -3.99300341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.117719420999999 meters 0.06198669608057429 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.14, Z:-0.40 [[ 9.97659730e-01 6.41891704e-03 6.80724663e-02 3.93490757e+00] [-6.56100205e-03 9.99976739e-01 1.86389315e-03 -1.36613448e-01] [-6.80589187e-02 -2.30615473e-03 9.97678638e-01 -4.02531136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.147719421 meters 0.0622789755464244 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.14, Z:-0.41 [[ 9.97761242e-01 2.20150875e-03 6.68405318e-02 3.96514799e+00] [-2.32763006e-03 9.99995655e-01 1.80908020e-03 -1.41236924e-01] [-6.68362587e-02 -1.96061014e-03 9.97762031e-01 -4.13034894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.177719420999999 meters 0.059641744604501765 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.15, Z:-0.41 [[ 9.97729911e-01 -1.71526107e-03 6.73207381e-02 3.99695720e+00] [ 1.59808579e-03 9.99997113e-01 1.79436731e-03 -1.49175644e-01] [-6.73236216e-02 -1.68270962e-03 9.97729772e-01 -4.11597254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.207719420999999 meters 0.05692014459929066 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.16, Z:-0.41 [[ 9.97298765e-01 -1.23454452e-02 7.24069334e-02 4.02684210e+00] [ 1.22382145e-02 9.99923258e-01 1.92442389e-03 -1.59336239e-01] [-7.24251347e-02 -1.03309399e-03 9.97373317e-01 -4.10796361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2377194209999995 meters 0.05560574940752609 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.17, Z:-0.41 [[ 9.97073558e-01 -1.90551137e-02 7.40352747e-02 4.05869865e+00] [ 1.89612059e-02 9.99818277e-01 1.97114038e-03 -1.65430404e-01] [-7.40593811e-02 -5.61573870e-04 9.97253675e-01 -4.10211544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.267719421 meters 0.055197298802251826 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.17, Z:-0.41 [[ 9.96899168e-01 -2.57332971e-02 7.43629320e-02 4.09037005e+00] [ 2.56568582e-02 9.99668841e-01 1.98317458e-03 -1.71726334e-01] [-7.43893398e-02 -6.91058829e-05 9.97229272e-01 -4.12896549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.297719420999999 meters 0.05556038712709192 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.18, Z:-0.41 [[ 9.96392292e-01 -3.59887979e-02 7.68583583e-02 4.12208338e+00] [ 3.59393399e-02 9.99351918e-01 2.02701349e-03 -1.83511760e-01] [-7.68814975e-02 7.42538049e-04 9.97039961e-01 -4.14964210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.327719420999999 meters 0.05574773346405366 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.19, Z:-0.42 [[ 9.96067478e-01 -3.95937867e-02 7.92585051e-02 4.15468524e+00] [ 3.95543766e-02 9.99215280e-01 2.06777216e-03 -1.86757385e-01] [-7.92781802e-02 1.07538016e-03 9.96851952e-01 -4.16749023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.357719421 meters 0.055767637146750114 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.19, Z:-0.42 [[ 9.96191637e-01 -3.93771649e-02 7.77924216e-02 4.18711756e+00] [ 3.93402813e-02 9.99223856e-01 2.00717825e-03 -1.85797558e-01] [-7.78110805e-02 1.06084156e-03 9.96967557e-01 -4.20027915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.387719420999999 meters 0.05603006267582613 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.19, Z:-0.43 [[ 9.96366921e-01 -3.89272436e-02 7.57471396e-02 4.21828513e+00] [ 3.88927044e-02 9.99241526e-01 1.93161275e-03 -1.86243469e-01] [-7.57648797e-02 1.02141606e-03 9.97125188e-01 -4.26607872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.417719420999999 meters 0.056141500994529976 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.19, Z:-0.43 [[ 9.96357376e-01 -3.98894339e-02 7.53711703e-02 4.25029369e+00] [ 3.98595191e-02 9.99203484e-01 1.90172769e-03 -1.85417858e-01] [-7.53869948e-02 1.10945819e-03 9.97153734e-01 -4.29354889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4477194209999995 meters 0.05679441079347106 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.19, Z:-0.43 [[ 9.96173527e-01 -4.38867623e-02 7.55794658e-02 4.28091724e+00] [ 4.38704217e-02 9.99035466e-01 1.87721934e-03 -1.86578160e-01] [-7.55889519e-02 1.44566683e-03 9.97138015e-01 -4.31976675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.477719421 meters 0.05710394363994835 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.19, Z:-0.43 [[ 9.96070413e-01 -4.59261237e-02 7.57266405e-02 4.31344270e+00] [ 4.59153322e-02 9.98943558e-01 1.88442866e-03 -1.87432547e-01] [-7.57331842e-02 1.59999022e-03 9.97126835e-01 -4.34014160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.507719420999999 meters 0.057527975501677486 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.19, Z:-0.44 [[ 9.95795568e-01 -4.92001090e-02 7.72692469e-02 4.34602661e+00] [ 4.92005523e-02 9.98787114e-01 1.89911120e-03 -1.90674630e-01] [-7.72689646e-02 1.91056311e-03 9.97008454e-01 -4.36992389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.537719420999999 meters 0.05785143663188492 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.19, Z:-0.44 [[ 9.95713782e-01 -5.02633935e-02 7.76379766e-02 4.37806324e+00] [ 5.02689199e-02 9.98733941e-01 1.88439693e-03 -1.90444210e-01] [-7.76343986e-02 2.02645724e-03 9.96979836e-01 -4.39776173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.567719421 meters 0.05688979320355301 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.18, Z:-0.44 [[ 9.96055455e-01 -4.52738121e-02 7.63139123e-02 4.40976276e+00] [ 4.52662335e-02 9.98973283e-01 1.82994042e-03 -1.80718541e-01] [-7.63184079e-02 1.63172124e-03 9.97082162e-01 -4.42445650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.597719420999999 meters 0.056349208765540774 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.17, Z:-0.45 [[ 9.96380902e-01 -3.89731822e-02 7.55393202e-02 4.44031148e+00] [ 3.89494208e-02 9.99239583e-01 1.78830412e-03 -1.72730021e-01] [-7.55515748e-02 1.16038070e-03 9.97141220e-01 -4.49079352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.627719420999999 meters 0.05574223692685603 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.15, Z:-0.46 [[ 9.97226223e-01 -2.15989129e-02 7.12274298e-02 4.47282422e+00] [ 2.15346729e-02 9.99766708e-01 1.66977059e-03 -1.49415243e-01] [-7.12468782e-02 -1.31279619e-04 9.97458703e-01 -4.55715240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6577194209999995 meters 0.05680206448661427 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.14, Z:-0.46 [[ 9.97522751e-01 -1.26741429e-02 6.91934058e-02 4.50407255e+00] [ 1.25942124e-02 9.99919424e-01 1.59131219e-03 -1.38248463e-01] [-6.92079989e-02 -7.15933665e-04 9.97601995e-01 -4.61520783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.687719421 meters 0.06002854977980163 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.12, Z:-0.47 [[ 9.97775982e-01 1.66426507e-03 6.66357318e-02 4.53388477e+00] [-1.76976413e-03 9.99997272e-01 1.52422133e-03 -1.21191442e-01] [-6.66330134e-02 -1.63876096e-03 9.97776205e-01 -4.69158571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.717719420999999 meters 0.06161459565057551 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.11, Z:-0.47 [[ 9.97803999e-01 5.83540099e-03 6.59782293e-02 4.56423449e+00] [-5.94824884e-03 9.99981163e-01 1.51406643e-03 -1.14785189e-01] [-6.59681512e-02 -1.90319647e-03 9.97819914e-01 -4.74784612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.747719420999999 meters 0.06196798128054248 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.11, Z:-0.48 [[ 9.97680868e-01 7.98186623e-03 6.75956774e-02 4.59748166e+00] [-8.10497792e-03 9.99965957e-01 1.54724242e-03 -1.10102433e-01] [-6.75810264e-02 -2.09151564e-03 9.97711597e-01 -4.76808365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.777719421 meters 0.06195434596586621 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.11, Z:-0.48 [[ 9.97690555e-01 7.24096487e-03 6.75360974e-02 4.62907161e+00] [-7.36048036e-03 9.99971755e-01 1.52098501e-03 -1.10298878e-01] [-6.75231764e-02 -2.01457050e-03 9.97715672e-01 -4.80697785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.807719420999999 meters 0.06030863190809362 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.12, Z:-0.48 [[ 9.97663200e-01 2.33298225e-03 6.82839349e-02 4.66074380e+00] [-2.44174502e-03 9.99995880e-01 1.50938148e-03 -1.19460853e-01] [-6.82801322e-02 -1.67258631e-03 9.97664786e-01 -4.83765079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.837719420999999 meters 0.05943957043805024 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.12, Z:-0.49 [[ 9.97617689e-01 -3.19624007e-04 6.89843719e-02 4.69342357e+00] [ 2.15028515e-04 9.99998816e-01 1.52364043e-03 -1.24590413e-01] [-6.89847773e-02 -1.50517704e-03 9.97616577e-01 -4.86246767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.867719420999999 meters 0.05943957043805024 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.12, Z:-0.49 [[ 9.97617733e-01 1.35424481e-05 6.89844876e-02 4.72589010e+00] [-1.18573014e-04 9.99998840e-01 1.51842990e-03 -1.24135862e-01] [-6.89843871e-02 -1.52299229e-03 9.97616577e-01 -4.89584468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.897719421 meters 0.05731893492330187 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.13, Z:-0.48 [[ 9.97386344e-01 -3.29289939e-03 7.21778159e-02 4.75866147e+00] [ 3.18892570e-03 9.99993705e-01 1.55570954e-03 -1.32279898e-01] [-7.21824843e-02 -1.32147376e-03 9.97390567e-01 -4.84215453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.927719420999999 meters 0.05734150341783739 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.13, Z:-0.49 [[ 9.97250888e-01 -2.93355119e-03 7.40409395e-02 4.78974953e+00] [ 2.82328963e-03 9.99994744e-01 1.59381665e-03 -1.32132074e-01] [-7.40452259e-02 -1.38039605e-03 9.97253929e-01 -4.85140721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.957719420999999 meters 0.058473438264197056 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.13, Z:-0.49 [[ 9.97031514e-01 1.51696430e-03 7.69795992e-02 4.82234279e+00] [-1.64773305e-03 9.99997305e-01 1.63525880e-03 -1.30136113e-01] [-7.69769112e-02 -1.75724639e-03 9.97031327e-01 -4.85819845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9877194209999995 meters 0.05916289826761992 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.13, Z:-0.49 [[ 9.96933700e-01 8.19037941e-03 7.78210511e-02 4.85385602e+00] [-8.34183418e-03 9.99963892e-01 1.62130863e-03 -1.30339469e-01] [-7.78049620e-02 -2.26550752e-03 9.96966025e-01 -4.86293610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.017719420999999 meters 0.06135113039096688 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.12, Z:-0.49 [[ 9.96834451e-01 1.35377529e-02 7.83441545e-02 4.88395366e+00] [-1.37074183e-02 9.99904723e-01 1.62824746e-03 -1.24855112e-01] [-7.83146473e-02 -2.69698925e-03 9.96925043e-01 -4.90571806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.047719420999999 meters 0.06525047977104084 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.12, Z:-0.49 [[ 9.96562797e-01 2.41062570e-02 7.92557913e-02 4.91373403e+00] [-2.43130143e-02 9.99703042e-01 1.64463810e-03 -1.17951288e-01] [-7.91926096e-02 -3.56593234e-03 9.96852955e-01 -4.94536118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.077719420999999 meters 0.0678253121045878 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.11, Z:-0.50 [[ 9.96558618e-01 2.74914576e-02 7.81993672e-02 4.94300304e+00] [-2.77034089e-02 9.99614863e-01 1.62662816e-03 -1.14344274e-01] [-7.81245314e-02 -3.78741936e-03 9.96936414e-01 -5.00298283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.107719421 meters 0.06783627911281638 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.12, Z:-0.50 [[ 9.96743976e-01 2.91012309e-02 7.51968369e-02 4.97406805e+00] [-2.93010553e-02 9.99569422e-01 1.55524902e-03 -1.17249467e-01] [-7.51191991e-02 -3.75353176e-03 9.97167497e-01 -5.04575272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.137719420999999 meters 0.06674504442437373 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.12, Z:-0.51 [[ 9.96712552e-01 2.85560936e-02 7.58197711e-02 5.00687317e+00] [-2.87579674e-02 9.99585168e-01 1.57187861e-03 -1.21078264e-01] [-7.57434319e-02 -3.74713365e-03 9.97120299e-01 -5.05698027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.167719420999999 meters 0.06652595563124711 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.13, Z:-0.51 [[ 9.96705574e-01 2.52140484e-02 7.70859945e-02 5.03786010e+00] [-2.54103707e-02 9.99675876e-01 1.56685059e-03 -1.28191440e-01] [-7.70215024e-02 -3.52047241e-03 9.97023217e-01 -5.08554546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1977194209999995 meters 0.06431750623366954 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.14, Z:-0.51 [[ 9.96822413e-01 2.27963109e-02 7.63243374e-02 5.07061398e+00] [-2.29815774e-02 9.99734687e-01 1.54981557e-03 -1.36120272e-01] [-7.62687575e-02 -3.29894456e-03 9.97081839e-01 -5.11172917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.227719420999999 meters 0.06247278048376012 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.15, Z:-0.52 [[ 9.97071428e-01 1.67345090e-02 7.46225429e-02 5.10047593e+00] [-1.68938203e-02 9.99856158e-01 1.50415307e-03 -1.45655622e-01] [-7.45866378e-02 -2.76040788e-03 9.97210717e-01 -5.16485857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.257719420999999 meters 0.061727414831962577 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.15, Z:-0.52 [[ 9.97059565e-01 1.45376991e-02 7.52388118e-02 5.13258621e+00] [-1.46940383e-02 9.99890874e-01 1.52472972e-03 -1.48771863e-01] [-7.52084352e-02 -2.62580834e-03 9.97164378e-01 -5.19784529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.287719420999999 meters 0.0594362201011242 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.16, Z:-0.52 [[ 9.96962110e-01 9.44483606e-03 7.73133021e-02 5.16350511e+00] [-9.59225876e-03 9.99952814e-01 1.53567536e-03 -1.58382269e-01] [-7.72951498e-02 -2.27261934e-03 9.97005664e-01 -5.20396216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.317719421 meters 0.05917706104387634 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.16, Z:-0.53 [[ 9.97010029e-01 7.42874033e-03 7.69143423e-02 5.19428902e+00] [-7.56903108e-03 9.99970180e-01 1.53262826e-03 -1.61527268e-01] [-7.69006632e-02 -2.11021280e-03 9.97036526e-01 -5.25396159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.347719420999999 meters 0.05784283321495284 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.17, Z:-0.53 [[ 9.97403616e-01 1.08744895e-03 7.20058672e-02 5.22611131e+00] [-1.19259407e-03 9.99998285e-01 1.41725337e-03 -1.71743639e-01] [-7.20042025e-02 -1.49944741e-03 9.97403202e-01 -5.33994862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.377719420999999 meters 0.05781389777529355 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.18, Z:-0.54 [[ 9.97592785e-01 -2.53066465e-03 6.92981259e-02 5.25691705e+00] [ 2.44370373e-03 9.99996117e-01 1.33962667e-03 -1.75032711e-01] [-6.93012469e-02 -1.16705781e-03 9.97595096e-01 -5.42029286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4077194209999995 meters 0.056700750940033635 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.18, Z:-0.55 [[ 9.97653449e-01 -9.76462076e-03 6.77661219e-02 5.28838987e+00] [ 9.69863324e-03 9.99952119e-01 1.30269096e-03 -1.82632400e-01] [-6.77755975e-02 -6.42395366e-04 9.97700384e-01 -5.46323372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.437719421 meters 0.05560651031366713 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.19, Z:-0.55 [[ 9.97425687e-01 -1.64049323e-02 6.98059937e-02 5.31950807e+00] [ 1.63530134e-02 9.99865416e-01 1.31519903e-03 -1.89861735e-01] [-6.98181747e-02 -1.70274940e-04 9.97559719e-01 -5.47450985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.467719420999999 meters 0.05490372221035634 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.19, Z:-0.54 [[ 9.97346562e-01 -1.86058921e-02 7.03822197e-02 5.35180040e+00] [ 1.85581980e-02 9.99826895e-01 1.33153368e-03 -1.91482516e-01] [-7.03948106e-02 -2.18333629e-05 9.97519208e-01 -5.44758082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.497719420999999 meters 0.05471099433451176 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.19, Z:-0.55 [[ 9.97174730e-01 -2.10222685e-02 7.21153452e-02 5.38275341e+00] [ 2.09804205e-02 9.99778992e-01 1.33781883e-03 -1.92265694e-01] [-7.21275311e-02 1.78971136e-04 9.97395402e-01 -5.45929041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.527719421 meters 0.054643102601071206 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.19, Z:-0.55 [[ 9.97085668e-01 -2.08954154e-02 7.33726916e-02 5.41484872e+00] [ 2.08524422e-02 9.99781650e-01 1.35175090e-03 -1.92212675e-01] [-7.33849161e-02 1.82188363e-04 9.97303675e-01 -5.48856553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.557719420999999 meters 0.05394628061953904 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.19, Z:-0.55 [[ 9.96888818e-01 -1.82718992e-02 7.66734777e-02 5.44744894e+00] [ 1.82190711e-02 9.99833055e-01 1.38849180e-03 -1.89151284e-01] [-7.66860478e-02 1.27475971e-05 9.97055289e-01 -5.47487020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.587719420999999 meters 0.05364359678144506 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.19, Z:-0.55 [[ 9.96777925e-01 -1.60357455e-02 7.85914993e-02 5.47975230e+00] [ 1.59752167e-02 9.99871410e-01 1.39887949e-03 -1.85204936e-01] [-7.86038252e-02 -1.38855960e-04 9.96905923e-01 -5.48501072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.617719420999999 meters 0.05408162618005991 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.18, Z:-0.55 [[ 9.96737725e-01 -8.68925685e-03 8.02396685e-02 5.51146710e+00] [ 8.60457331e-03 9.99961998e-01 1.40110034e-03 -1.75463196e-01] [-8.02487938e-02 -7.06101457e-04 9.96774615e-01 -5.51368154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.647719421 meters 0.05554027121321426 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.16, Z:-0.56 [[ 9.96889145e-01 -4.51116145e-04 7.88151521e-02 5.54323921e+00] [ 3.45288449e-04 9.99999021e-01 1.35635589e-03 -1.64554505e-01] [-7.88156868e-02 -1.32492250e-03 9.96888325e-01 -5.56831973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.677719420999999 meters 0.05703013351922893 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.16, Z:-0.56 [[ 9.96889827e-01 3.46178616e-03 7.87317504e-02 5.57338601e+00] [-3.57894724e-03 9.99992688e-01 1.34704539e-03 -1.57900259e-01] [-7.87265115e-02 -1.62463263e-03 9.96894928e-01 -5.62201647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.707719420999999 meters 0.057958019742417384 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.15, Z:-0.57 [[ 9.96878627e-01 7.45784462e-03 7.85963280e-02 5.60504982e+00] [-7.58692296e-03 9.99970316e-01 1.34380449e-03 -1.52677755e-01] [-7.85839730e-02 -1.93591426e-03 9.96905618e-01 -5.65069761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7377194209999995 meters 0.057998322046979904 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.15, Z:-0.57 [[ 9.96909635e-01 9.30714546e-03 7.80035678e-02 5.63720638e+00] [-9.43932482e-03 9.99954569e-01 1.32598072e-03 -1.52911206e-01] [-7.79876830e-02 -2.05818397e-03 9.96952198e-01 -5.67723551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.767719420999999 meters 0.05811097506439454 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.15, Z:-0.57 [[ 9.96793364e-01 1.06548642e-02 7.93061420e-02 5.67054396e+00] [-1.07938880e-02 9.99940867e-01 1.32450927e-03 -1.52012571e-01] [-7.92873400e-02 -2.17628367e-03 9.96849428e-01 -5.70474613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.797719420999999 meters 0.058666981787600984 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.15, Z:-0.57 [[ 9.96635423e-01 1.27575700e-02 8.09634425e-02 5.70209006e+00] [-1.29069666e-02 9.99915828e-01 1.32212624e-03 -1.49331651e-01] [-8.09397605e-02 -2.36267029e-03 9.96716195e-01 -5.72242818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.827719420999999 meters 0.05867996882194095 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.15, Z:-0.58 [[ 9.96810866e-01 1.33377699e-02 7.86778350e-02 5.73372460e+00] [-1.34788273e-02 9.99908360e-01 1.26203146e-03 -1.51397019e-01] [-7.86537923e-02 -2.31849162e-03 9.96899296e-01 -5.78155267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.857719421 meters 0.059360625980942015 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.15, Z:-0.59 [[ 9.96903388e-01 1.28173761e-02 7.75844651e-02 5.76483942e+00] [-1.29511688e-02 9.99915384e-01 1.22153939e-03 -1.51973906e-01] [-7.75622433e-02 -2.22256626e-03 9.96985034e-01 -5.85366498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.887719420999999 meters 0.05862719591525264 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.16, Z:-0.59 [[ 9.97235511e-01 1.05662777e-02 7.35505878e-02 5.79699475e+00] [-1.06786763e-02 9.99942337e-01 1.13509391e-03 -1.56801248e-01] [-7.35343530e-02 -1.91737888e-03 9.97290842e-01 -5.91697387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.917719420999999 meters 0.05827938743777251 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.16, Z:-0.59 [[ 9.97261248e-01 9.60181251e-03 7.33335485e-02 5.82932002e+00] [-9.70931004e-03 9.99952248e-01 1.10951459e-03 -1.58287381e-01] [-7.33193934e-02 -1.81849407e-03 9.97306853e-01 -5.94547657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9477194209999995 meters 0.05736237484138923 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.16, Z:-0.60 [[ 9.97226876e-01 7.69477514e-03 7.40226202e-02 5.86173133e+00] [-7.79738014e-03 9.99968998e-01 1.09723835e-03 -1.61830170e-01] [-7.40118823e-02 -1.67137808e-03 9.97255959e-01 -5.95927056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.977719420999999 meters 0.0571821127793629 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.16, Z:-0.60 [[ 9.97171681e-01 7.28027932e-03 7.48039914e-02 5.89429455e+00] [-7.38216589e-03 9.99972162e-01 1.08563872e-03 -1.61032408e-01] [-7.47940053e-02 -1.63478366e-03 9.97197666e-01 -5.97733247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.007719421 meters 0.057336642235724856 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.16, Z:-0.60 [[ 9.97172333e-01 8.00235988e-03 7.47214904e-02 5.92597484e+00] [-8.10439035e-03 9.99966595e-01 1.06236202e-03 -1.58309189e-01] [-7.47104929e-02 -1.66493013e-03 9.97203876e-01 -5.99979047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.037719421 meters 0.05703321707790824 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.16, Z:-0.60 [[ 9.97130653e-01 8.13748274e-03 7.52611599e-02 5.95842739e+00] [-8.23950100e-03 9.99965509e-01 1.04512012e-03 -1.58557147e-01] [-7.52500594e-02 -1.66223571e-03 9.97163309e-01 -6.01738671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.067719421 meters 0.0562985961323766 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.16, Z:-0.60 [[ 9.97094023e-01 7.02958623e-03 7.58557421e-02 5.99019371e+00] [-7.12824714e-03 9.99974063e-01 1.02996440e-03 -1.60220346e-01] [-7.58465345e-02 -1.56768983e-03 9.97118271e-01 -6.04537697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.097719421 meters 0.05548377063874703 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.16, Z:-0.61 [[ 9.97083662e-01 4.49388363e-03 7.61838295e-02 6.02279568e+00] [-4.58382502e-03 9.99988988e-01 1.00576319e-03 -1.61213759e-01] [-7.61784708e-02 -1.35204339e-03 9.97093282e-01 -6.07233985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.127719421 meters 0.0542653243215516 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.16, Z:-0.61 [[ 9.97022442e-01 -4.02492854e-03 7.70068145e-02 6.05316408e+00] [ 3.95924002e-03 9.99991656e-01 1.00567471e-03 -1.64891819e-01] [-7.70102198e-02 -6.97791795e-04 9.97030059e-01 -6.11484884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.157719421 meters 0.05377398334231358 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.17, Z:-0.61 [[ 9.96933302e-01 -9.67548674e-03 7.76554958e-02 6.08513330e+00] [ 9.62538983e-03 9.99953155e-01 1.01939757e-03 -1.70073367e-01] [-7.76617212e-02 -2.68806962e-04 9.96979731e-01 -6.13987235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.187719421 meters 0.053962061578206204 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.18, Z:-0.61 [[ 9.96328039e-01 -2.50521890e-02 8.18707963e-02 6.11645741e+00] [ 2.50505422e-02 9.99685637e-01 1.04745477e-03 -1.83206876e-01] [-8.18713002e-02 1.00729929e-03 9.96642401e-01 -6.14601964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.217719421 meters 0.05514486287844459 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.19, Z:-0.62 [[ 9.95993984e-01 -3.26758061e-02 8.32362651e-02 6.14873207e+00] [ 3.27029795e-02 9.99464576e-01 1.03728706e-03 -1.88545299e-01] [-8.32255926e-02 1.68894220e-03 9.96529301e-01 -6.15383939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.247719421 meters 0.057918648822070075 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.19, Z:-0.62 [[ 9.95643992e-01 -4.36142093e-02 8.24065677e-02 6.17954894e+00] [ 4.36788929e-02 9.99045103e-01 1.01854643e-03 -1.94039059e-01] [-8.23723009e-02 2.58531801e-03 9.96598274e-01 -6.19038002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.277719421 meters 0.05873863087378609 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.19, Z:-0.62 [[ 9.95601102e-01 -4.52608423e-02 8.20359766e-02 6.21167636e+00] [ 4.53301065e-02 9.98971543e-01 1.01893625e-03 -1.92212619e-01] [-8.19977240e-02 2.70424550e-03 9.96628848e-01 -6.23599704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.307719421 meters 0.05797358647098451 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.19, Z:-0.63 [[ 9.95630895e-01 -4.36084202e-02 8.25677138e-02 6.24392789e+00] [ 4.36749368e-02 9.99045293e-01 1.00124562e-03 -1.86516041e-01] [-8.25325485e-02 2.60926861e-03 9.96584954e-01 -6.26453629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.337719421000001 meters 0.05646955272981401 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.17, Z:-0.63 [[ 9.95875881e-01 -3.62335335e-02 8.31766882e-02 6.27331381e+00] [ 3.62779214e-02 9.99341261e-01 9.78136838e-04 -1.72508774e-01] [-8.31573379e-02 2.04337447e-03 9.96534335e-01 -6.30137703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.367719421 meters 0.054665510590588474 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.16, Z:-0.63 [[ 9.96016708e-01 -3.11032919e-02 8.35661608e-02 6.30526247e+00] [ 3.11299788e-02 9.99514860e-01 9.83932781e-04 -1.59762895e-01] [-8.35562231e-02 1.62139932e-03 9.96501745e-01 -6.30882328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.397719421 meters 0.053483885613519425 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.14, Z:-0.64 [[ 9.96367866e-01 -1.88230150e-02 8.30467972e-02 6.33545041e+00] [ 1.88072601e-02 9.99822655e-01 9.72069578e-04 -1.39844240e-01] [-8.30503666e-02 5.93343822e-04 9.96545174e-01 -6.35799419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.427719421 meters 0.05353584789715966 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.13, Z:-0.64 [[ 9.96634381e-01 -1.23376885e-02 8.10413005e-02 6.36714336e+00] [ 1.23011044e-02 9.99923887e-01 9.50698168e-04 -1.30463591e-01] [-8.10468616e-02 4.93990204e-05 9.96710291e-01 -6.41775447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.457719421 meters 0.05459913177391504 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.11, Z:-0.65 [[ 9.96956293e-01 -1.55830830e-03 7.79469111e-02 6.39822553e+00] [ 1.49371000e-03 9.99998491e-01 8.87044310e-04 -1.14900864e-01] [-7.79481758e-02 -7.67914327e-04 9.96957117e-01 -6.50866598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.487719421 meters 0.05536051210724486 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.11, Z:-0.66 [[ 9.97116445e-01 2.73619939e-03 7.58373789e-02 6.43018706e+00] [-2.80926112e-03 9.99995687e-01 8.56739419e-04 -1.07576387e-01] [-7.58347076e-02 -1.06731596e-03 9.97119831e-01 -6.56163275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.517719421 meters 0.0576426392998795 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.09, Z:-0.66 [[ 9.97525839e-01 9.87863081e-03 6.96032546e-02 6.45885164e+00] [-9.95700634e-03 9.99950124e-01 7.79173304e-04 -9.34656987e-02] [-6.95920859e-02 -1.47028555e-03 9.97574448e-01 -6.64738791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.547719421 meters 0.05913199826438656 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.09, Z:-0.67 [[ 9.97836032e-01 1.22715525e-02 6.45961526e-02 6.48955610e+00] [-1.23439352e-02 9.99923550e-01 7.21543910e-04 -8.69301316e-02] [-6.45823597e-02 -1.51735323e-03 9.97911227e-01 -6.73284147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.577719421 meters 0.058835426490328385 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.09, Z:-0.68 [[ 9.97899452e-01 1.17223069e-02 6.37124176e-02 6.52208324e+00] [-1.17921873e-02 9.99930210e-01 7.20870833e-04 -8.69346440e-02] [-6.36995208e-02 -1.47066537e-03 9.97968040e-01 -6.77615139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.607719421 meters 0.05795164680967417 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.09, Z:-0.68 [[ 9.97926356e-01 7.40012559e-03 6.39392336e-02 6.55329498e+00] [-7.46003311e-03 9.99971930e-01 6.98253545e-04 -9.05418450e-02] [-6.39322717e-02 -1.17379442e-03 9.97953549e-01 -6.83194901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.637719421 meters 0.057264683751337045 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.09, Z:-0.69 [[ 9.97921462e-01 3.77770724e-03 6.43310528e-02 6.58583434e+00] [-3.82923230e-03 9.99992439e-01 6.77657513e-04 -9.48301757e-02] [-6.43280064e-02 -9.22587522e-04 9.97928382e-01 -6.87682475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.667719421000001 meters 0.055447430334222905 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.10, Z:-0.69 [[ 9.97774773e-01 -4.45160492e-03 6.65258253e-02 6.61752159e+00] [ 4.41540810e-03 9.99990013e-01 6.91124886e-04 -1.03129750e-01] [-6.65282375e-02 -3.95848309e-04 9.97784464e-01 -6.85964734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.697719421 meters 0.05443396172023975 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.10, Z:-0.68 [[ 9.97414920e-01 -8.72316943e-03 7.13258988e-02 6.64895264e+00] [ 8.69270323e-03 9.99961946e-01 7.37538254e-04 -1.03570273e-01] [-7.13296183e-02 -1.15616787e-04 9.97452792e-01 -6.83729201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.727719421 meters 0.05422507837563131 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.10, Z:-0.68 [[ 9.97302704e-01 -8.49497521e-03 7.29050923e-02 6.68143782e+00] [ 8.46221545e-03 9.99963907e-01 7.58222136e-04 -1.02203709e-01] [-7.29089021e-02 -1.39238388e-04 9.97338595e-01 -6.83396486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.757719421000001 meters 0.05428486908435849 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.10, Z:-0.69 [[ 9.97316158e-01 -7.98058310e-03 7.27790536e-02 6.71442028e+00] [ 7.94806901e-03 9.99968142e-01 7.36354776e-04 -1.00718956e-01] [-7.27826116e-02 -1.55925576e-04 9.97347817e-01 -6.87174688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.787719421 meters 0.05428486908435849 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.10, Z:-0.69 [[ 9.97318798e-01 -7.64136566e-03 7.27792941e-02 6.74688049e+00] [ 7.60975676e-03 9.99970792e-01 7.11589980e-04 -1.00638497e-01] [-7.27826059e-02 -1.55849338e-04 9.97347817e-01 -6.90506095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.817719421 meters 0.05473825449261361 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.10, Z:-0.70 [[ 9.97526462e-01 -8.28289437e-03 6.98022333e-02 6.77709964e+00] [ 8.25710094e-03 9.99965693e-01 6.58052372e-04 -1.00603746e-01] [-6.98052891e-02 -8.00605688e-05 9.97560632e-01 -7.00173081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.847719421 meters 0.05472382720438678 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.10, Z:-0.70 [[ 9.97620807e-01 -9.49577633e-03 6.82829131e-02 6.80947667e+00] [ 9.47510503e-03 9.99954914e-01 6.26603005e-04 -1.00095352e-01] [-6.82857846e-02 2.18755782e-05 9.97665801e-01 -7.04158243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.877719421 meters 0.05444561340257005 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.10, Z:-0.71 [[ 9.97344528e-01 -1.40459150e-02 7.14605174e-02 6.84047340e+00] [ 1.40366213e-02 9.99901282e-01 6.32250153e-04 -9.93074765e-02] [-7.14623434e-02 3.72492993e-04 9.97443229e-01 -7.06475925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.907719421 meters 0.05429865989490938 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.10, Z:-0.71 [[ 9.97114402e-01 -1.73531139e-02 7.39035729e-02 6.87262565e+00] [ 1.73537851e-02 9.99849211e-01 6.33097717e-04 -9.94247558e-02] [-7.39034153e-02 6.51235870e-04 9.97265191e-01 -7.06723393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.937719421 meters 0.05457194942013301 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.10, Z:-0.70 [[ 9.96541201e-01 -2.62953903e-02 7.88301190e-02 6.90598889e+00] [ 2.63259671e-02 9.99653199e-01 6.51530362e-04 -9.87795759e-02] [-7.88199129e-02 1.42600227e-03 9.96887851e-01 -7.03005457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.967719421 meters 0.05546654728962199 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.10, Z:-0.70 [[ 9.96351148e-01 -3.05185672e-02 7.97057486e-02 6.93671622e+00] [ 3.05660611e-02 9.99532554e-01 6.24439042e-04 -9.84298348e-02] [-7.96875475e-02 1.81413022e-03 9.96818240e-01 -7.04841098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.997719421 meters 0.0564483674424745 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.10, Z:-0.71 [[ 9.96035430e-01 -3.64458124e-02 8.11487802e-02 6.96887222e+00] [ 3.65148873e-02 9.99332909e-01 6.33136475e-04 -9.52762949e-02] [-8.11177217e-02 2.33251220e-03 9.96701798e-01 -7.05826301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.027719421 meters 0.05683712290254069 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.09, Z:-0.71 [[ 9.95887593e-01 -3.78978499e-02 8.22900663e-02 7.00144784e+00] [ 3.79740731e-02 9.99278520e-01 6.39191304e-04 -9.28028701e-02] [-8.22549196e-02 2.48832630e-03 9.96608216e-01 -7.08662857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.057719421 meters 0.0566220098158514 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.08, Z:-0.71 [[ 9.95806268e-01 -3.65612854e-02 8.38638761e-02 7.03225110e+00] [ 3.66378990e-02 9.99328411e-01 6.25797596e-04 -8.09159789e-02] [-8.38304340e-02 2.44942305e-03 9.96477024e-01 -7.10498368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.087719421000001 meters 0.05614502980910157 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.07, Z:-0.71 [[ 9.95959184e-01 -3.42063750e-02 8.30375121e-02 7.06466637e+00] [ 3.42753388e-02 9.99412251e-01 5.95294276e-04 -7.20863689e-02] [-8.30090697e-02 2.25325006e-03 9.96546244e-01 -7.13889748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.117719421 meters 0.05440936643257136 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.05, Z:-0.72 [[ 9.96236701e-01 -2.78314371e-02 8.20843860e-02 7.09638100e+00] [ 2.78784225e-02 9.99611157e-01 5.73889832e-04 -5.13058421e-02] [-8.20684402e-02 1.71665308e-03 9.96625218e-01 -7.16324795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.147719421 meters 0.05395348359027724 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.04, Z:-0.72 [[ 9.96325961e-01 -2.32811995e-02 8.24170259e-02 7.12738260e+00] [ 2.33131231e-02 9.99728047e-01 5.75103709e-04 -3.94211967e-02] [-8.24080014e-02 1.34840752e-03 9.96597764e-01 -7.22086717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.177719421 meters 0.05386571937182385 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.04, Z:-0.73 [[ 9.96405195e-01 -2.24101888e-02 8.16974348e-02 7.16020804e+00] [ 2.24403564e-02 9.99748033e-01 5.49031676e-04 -3.62452892e-02] [-8.16891537e-02 1.28626154e-03 9.96657026e-01 -7.29223528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.207719421 meters 0.05486635887616595 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.03, Z:-0.74 [[ 9.96439769e-01 -2.52420802e-02 8.04401937e-02 7.19103125e+00] [ 2.52827897e-02 9.99680208e-01 5.12566029e-04 -3.20787432e-02] [-8.04274078e-02 1.52301132e-03 9.96759305e-01 -7.36402094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.237719421 meters 0.0549604878152288 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.03, Z:-0.74 [[ 9.96364197e-01 -2.73057862e-02 8.07018013e-02 7.22312505e+00] [ 2.73552547e-02 9.99625654e-01 4.92777632e-04 -2.75859125e-02] [-8.06850465e-02 1.71663234e-03 9.96738168e-01 -7.38369777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.267719421 meters 0.05479014583505259 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.02, Z:-0.74 [[ 9.96412313e-01 -2.83374881e-02 7.97464012e-02 7.25524920e+00] [ 2.83908992e-02 9.99596789e-01 4.64228005e-04 -1.89019343e-02] [-7.97274017e-02 1.80150954e-03 9.96815076e-01 -7.40905722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.297719421 meters 0.05492255440405133 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.02, Z:-0.75 [[ 9.96485445e-01 -2.65692811e-02 7.94407373e-02 7.28571577e+00] [ 2.66185873e-02 9.99645566e-01 4.38429946e-04 -1.50115214e-02] [-7.94242296e-02 1.67771114e-03 9.96839494e-01 -7.46108163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.327719421 meters 0.053866551313498934 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.00, Z:-0.75 [[ 9.96708638e-01 -1.96422106e-02 7.86515986e-02 7.31714852e+00] [ 1.96709625e-02 9.99806424e-01 4.09273774e-04 -5.24435738e-04] [-7.86444126e-02 1.13922594e-03 9.96902081e-01 -7.51547602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.357719421 meters 0.052958588852373346 Centerline is valid? [True, True] Translation: X:7.35, Y:0.02, Z:-0.76 [[ 9.96892780e-01 -6.37248254e-03 7.85122709e-02 7.34711669e+00] [ 6.36047164e-03 9.99979691e-01 4.03056253e-04 2.09693043e-02] [-7.85132448e-02 9.75712040e-05 9.96913066e-01 -7.56319677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.387719421 meters 0.05323716471484488 Centerline is valid? [True, True] Translation: X:7.38, Y:0.03, Z:-0.76 [[ 9.97009431e-01 6.10728688e-04 7.72775661e-02 7.37923811e+00] [-6.43694723e-04 9.99999712e-01 4.01684458e-04 3.15495593e-02] [-7.72772985e-02 -4.50226354e-04 9.97009537e-01 -7.59077777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.417719421 meters 0.05429116717802324 Centerline is valid? [True, True] Translation: X:7.41, Y:0.05, Z:-0.76 [[ 9.96824291e-01 1.26919205e-02 7.86145569e-02 7.40994629e+00] [-1.27617635e-02 9.99918491e-01 3.86059130e-04 4.66896697e-02] [-7.86032493e-02 -1.38809350e-03 9.96905012e-01 -7.64774539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.447719421 meters 0.05512249450817453 Centerline is valid? [True, True] Translation: X:7.44, Y:0.05, Z:-0.77 [[ 9.96732598e-01 1.65975843e-02 7.90483880e-02 7.44143509e+00] [-1.66789576e-02 9.99860828e-01 3.69221193e-04 5.31245704e-02] [-7.90312585e-02 -1.68645951e-03 9.96870712e-01 -7.68681320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.477719421 meters 0.05490280054981144 Centerline is valid? [True, True] Translation: X:7.47, Y:0.06, Z:-0.77 [[ 9.96686425e-01 1.78573345e-02 7.93554338e-02 7.47331964e+00] [-1.79414762e-02 9.99838978e-01 3.47383001e-04 5.91755941e-02] [-7.93364525e-02 -1.76998555e-03 9.96846324e-01 -7.69315507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.507719421000001 meters 0.054120242800620146 Centerline is valid? [True, True] Translation: X:7.50, Y:0.06, Z:-0.77 [[ 9.96491288e-01 1.59440953e-02 8.21638528e-02 7.50453805e+00] [-1.60251023e-02 9.99871536e-01 3.26515643e-04 5.88080349e-02] [-8.21480918e-02 -1.64205414e-03 9.96618781e-01 -7.68893785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.537719421 meters 0.05347075111333072 Centerline is valid? [True, True] Translation: X:7.54, Y:0.06, Z:-0.77 [[ 9.96180788e-01 1.13935424e-02 8.65680398e-02 7.53676214e+00] [-1.14661053e-02 9.99934204e-01 3.41015469e-04 5.63920002e-02] [-8.65584586e-02 -1.33231132e-03 9.96245882e-01 -7.68694081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.567719421 meters 0.053397361617021286 Centerline is valid? [True, True] Translation: X:7.57, Y:0.06, Z:-0.77 [[ 9.96123705e-01 9.92515580e-03 8.74016906e-02 7.56830846e+00] [-9.99311645e-03 9.99950010e-01 3.40045441e-04 5.62239495e-02] [-8.73939464e-02 -1.21214260e-03 9.96173092e-01 -7.71217338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.597719421 meters 0.05370882156967071 Centerline is valid? [True, True] Translation: X:7.60, Y:0.06, Z:-0.78 [[ 9.96263222e-01 1.16692940e-02 8.55769807e-02 7.60016681e+00] [-1.17390647e-02 9.99931046e-01 3.12106227e-04 6.08339296e-02] [-8.55674378e-02 -1.31553367e-03 9.96331513e-01 -7.76566173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.627719421 meters 0.054030127055807745 Centerline is valid? [True, True] Translation: X:7.63, Y:0.06, Z:-0.78 [[ 9.96388917e-01 1.40628401e-02 8.37338769e-02 7.63212102e+00] [-1.41362681e-02 9.99900038e-01 2.84072613e-04 6.45620637e-02] [-8.37215118e-02 -1.46673133e-03 9.96488112e-01 -7.80682085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.657719421 meters 0.05551664596710068 Centerline is valid? [True, True] Translation: X:7.66, Y:0.07, Z:-0.79 [[ 9.96488032e-01 2.01067943e-02 8.12854158e-02 7.66197299e+00] [-2.01939168e-02 9.99796051e-01 2.49772767e-04 7.49800707e-02] [-8.12638156e-02 -1.89036650e-03 9.96690834e-01 -7.86959742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.687719421 meters 0.0558829269957556 Centerline is valid? [True, True] Translation: X:7.69, Y:0.08, Z:-0.79 [[ 9.96457459e-01 2.25711107e-02 8.10128179e-02 7.69456316e+00] [-2.26658187e-02 9.99743066e-01 2.49499537e-04 7.90152254e-02] [-8.09863715e-02 -2.08483752e-03 9.96713028e-01 -7.89666911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.717719421 meters 0.05728125762944624 Centerline is valid? [True, True] Translation: X:7.73, Y:0.09, Z:-0.79 [[ 9.96344440e-01 2.77904788e-02 8.07802388e-02 7.72575732e+00] [-2.78996379e-02 9.99610705e-01 2.22690810e-04 8.57393296e-02] [-8.07426028e-02 -2.47561616e-03 9.96731912e-01 -7.93301834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.747719421 meters 0.05798300031722521 Centerline is valid? [True, True] Translation: X:7.76, Y:0.09, Z:-0.80 [[ 9.96269554e-01 3.03921631e-02 8.07668997e-02 7.75814992e+00] [-3.05099585e-02 9.99534438e-01 2.24461732e-04 8.80074911e-02] [-8.07224758e-02 -2.68781915e-03 9.96732992e-01 -7.97433349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.777719421 meters 0.057320049760177634 Centerline is valid? [True, True] Translation: X:7.79, Y:0.09, Z:-0.80 [[ 9.96066377e-01 3.32163217e-02 8.21489378e-02 7.79028417e+00] [-3.33460013e-02 9.99443846e-01 2.06726853e-04 8.74441461e-02] [-8.20963836e-02 -2.94525226e-03 9.96620043e-01 -7.97101300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.807719421 meters 0.05799751990868709 Centerline is valid? [True, True] Translation: X:7.82, Y:0.09, Z:-0.80 [[ 9.96008199e-01 3.25788291e-02 8.31040798e-02 7.82175360e+00] [-3.27073778e-02 9.99464953e-01 1.85532697e-04 9.03369259e-02] [-8.30535708e-02 -2.90290862e-03 9.96540856e-01 -8.00575248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.837719421000001 meters 0.056036589049942624 Centerline is valid? [True, True] Translation: X:7.85, Y:0.08, Z:-0.80 [[ 9.96084015e-01 2.76408198e-02 8.39798773e-02 7.85350046e+00] [-2.77524858e-02 9.99614812e-01 1.62355427e-04 8.27305955e-02] [-8.39430417e-02 -2.49237000e-03 9.96467437e-01 -8.02104723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.867719421 meters 0.054980658786643724 Centerline is valid? [True, True] Translation: X:7.88, Y:0.07, Z:-0.81 [[ 9.96493374e-01 1.84856249e-02 8.16041502e-02 7.88250953e+00] [-1.85599275e-02 9.99827738e-01 1.52004851e-04 7.11437830e-02] [-8.15872830e-02 -1.66603894e-03 9.96664808e-01 -8.10598487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.897719421 meters 0.05403952725507234 Centerline is valid? [True, True] Translation: X:7.91, Y:0.06, Z:-0.81 [[ 9.96730555e-01 1.24732320e-02 7.98286832e-02 7.91427441e+00] [-1.25255635e-02 9.99921540e-01 1.54813665e-04 6.27588029e-02] [-7.98204888e-02 -1.15420675e-03 9.96808586e-01 -8.14698705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.927719421 meters 0.05330132303149235 Centerline is valid? [True, True] Translation: X:7.95, Y:0.05, Z:-0.82 [[ 9.96677639e-01 -2.46404128e-03 8.14101455e-02 7.94617149e+00] [ 2.46156374e-03 9.99996962e-01 1.30797637e-04 4.80570395e-02] [-8.14102204e-02 7.00331821e-05 9.96680677e-01 -8.16144663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.957719421 meters 0.05356634182841281 Centerline is valid? [True, True] Translation: X:7.98, Y:0.04, Z:-0.82 [[ 9.96580558e-01 -9.19018161e-03 8.21141456e-02 7.97833367e+00] [ 9.21049718e-03 9.99957574e-01 1.31393800e-04 3.96841118e-02] [-8.21118693e-02 6.25367600e-04 9.96622923e-01 -8.18517093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.987719421 meters 0.05560825721430372 Centerline is valid? [True, True] Translation: X:8.01, Y:0.02, Z:-0.82 [[ 9.96648795e-01 -2.17202463e-02 7.88632442e-02 8.00738958e+00] [ 2.17802713e-02 9.99762777e-01 9.90661385e-05 2.26722665e-02] [-7.88466877e-02 1.61892870e-03 9.96885439e-01 -8.24820034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.017719421 meters 0.05721388207984183 Centerline is valid? [True, True] Translation: X:8.04, Y:0.01, Z:-0.83 [[ 9.96631051e-01 -2.86465741e-02 7.68499923e-02 8.03740900e+00] [ 2.87240183e-02 9.99587375e-01 9.76606550e-05 1.10792381e-02] [-7.68210797e-02 2.11010895e-03 9.97042662e-01 -8.30561956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.047719421 meters 0.057086676087223946 Centerline is valid? [True, True] Translation: X:8.07, Y:0.01, Z:-0.83 [[ 9.96495214e-01 -3.02612687e-02 7.79842549e-02 8.07004058e+00] [ 3.03455829e-02 9.99539461e-01 1.03919938e-04 1.13176565e-02] [-7.79514848e-02 2.26292195e-03 9.96954585e-01 -8.31413525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.077719421 meters 0.0581552217705944 Centerline is valid? [True, True] Translation: X:8.10, Y:0.01, Z:-0.84 [[ 9.96383624e-01 -3.07144149e-02 7.92230994e-02 8.10120150e+00] [ 3.08048927e-02 9.99525413e-01 8.01237675e-05 9.37595871e-03] [-7.91879621e-02 2.36062507e-03 9.96856908e-01 -8.35106697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.107719421 meters 0.05716762556534731 Centerline is valid? [True, True] Translation: X:8.13, Y:0.02, Z:-0.83 [[ 9.96056442e-01 -2.91101904e-02 8.38102736e-02 8.13349672e+00] [ 2.92071792e-02 9.99573377e-01 6.88739423e-05 1.51369182e-02] [-8.37765232e-02 2.37925935e-03 9.96481728e-01 -8.34101295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.137719421 meters 0.05674567325780207 Centerline is valid? [True, True] Translation: X:8.16, Y:0.02, Z:-0.84 [[ 9.96297205e-01 -2.51520074e-02 8.22146912e-02 8.16456437e+00] [ 2.52319410e-02 9.99681622e-01 6.67428198e-05 2.04445842e-02] [-8.21901945e-02 2.00794056e-03 9.96614640e-01 -8.39614164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.167719421 meters 0.056176999490806956 Centerline is valid? [True, True] Translation: X:8.20, Y:0.02, Z:-0.84 [[ 9.96425270e-01 -2.37484426e-02 8.10721418e-02 8.19772510e+00] [ 2.38230138e-02 9.99716191e-01 4.74836578e-05 2.45192995e-02] [-8.10502605e-02 1.88406884e-03 9.96708235e-01 -8.43156375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.197719421 meters 0.05652582638401077 Centerline is valid? [True, True] Translation: X:8.23, Y:0.02, Z:-0.85 [[ 9.96130420e-01 -2.40009572e-02 8.45466798e-02 8.22921838e+00] [ 2.40854727e-02 9.99709903e-01 2.03747746e-05 2.39325259e-02] [-8.45226421e-02 2.01605081e-03 9.96419519e-01 -8.45995788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.227719421 meters 0.0563984961497543 Centerline is valid? [True, True] Translation: X:8.26, Y:0.02, Z:-0.85 [[ 9.95878629e-01 -2.51344622e-02 8.71436484e-02 8.26281615e+00] [ 2.52305285e-02 9.99681660e-01 -9.55377676e-07 2.49909617e-02] [-8.71158830e-02 2.19963175e-03 9.96195756e-01 -8.46825126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.257719421000001 meters 0.05762560255298561 Centerline is valid? [True, True] Translation: X:8.29, Y:0.02, Z:-0.85 [[ 9.95721989e-01 -3.02391211e-02 8.73116011e-02 8.29432027e+00] [ 3.03579101e-02 9.99539092e-01 -3.26987682e-05 2.39420285e-02] [-8.72703697e-02 2.68315662e-03 9.96181049e-01 -8.48967331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.287719421 meters 0.060061511358997094 Centerline is valid? [True, True] Translation: X:8.32, Y:0.02, Z:-0.85 [[ 9.95618577e-01 -3.67881497e-02 8.59667480e-02 8.32412010e+00] [ 3.69279626e-02 9.99317930e-01 -3.61526634e-05 1.89286863e-02] [-8.59067826e-02 3.21057111e-03 9.96298006e-01 -8.54429071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.317719421 meters 0.06270343422239082 Centerline is valid? [True, True] Translation: X:8.36, Y:0.01, Z:-0.86 [[ 9.95588345e-01 -3.90516591e-02 8.53159690e-02 8.35519554e+00] [ 3.91974399e-02 9.99231484e-01 -3.36059499e-05 1.16204408e-02] [-8.52490900e-02 3.37762526e-03 9.96353945e-01 -8.60890137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.347719421 meters 0.0626150302290452 Centerline is valid? [True, True] Translation: X:8.39, Y:0.01, Z:-0.87 [[ 9.95591357e-01 -4.37221219e-02 8.29832840e-02 8.38585179e+00] [ 4.38772060e-02 9.99036931e-01 -4.52209555e-05 1.26907854e-02] [-8.29013882e-02 3.68609624e-03 9.96550938e-01 -8.65813445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.377719421 meters 0.06442322181453947 Centerline is valid? [True, True] Translation: X:8.42, Y:0.01, Z:-0.87 [[ 9.95725716e-01 -4.54675315e-02 8.03927987e-02 8.41522074e+00] [ 4.56188590e-02 9.98958917e-01 -4.57130490e-05 1.07431061e-02] [-8.03070246e-02 3.71294541e-03 9.96763260e-01 -8.72536882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.407719421 meters 0.06509417868331656 Centerline is valid? [True, True] Translation: X:8.45, Y:0.01, Z:-0.88 [[ 9.95838930e-01 -4.62800338e-02 7.85046739e-02 8.44669594e+00] [ 4.64266771e-02 9.98921700e-01 -4.28308408e-05 1.14904499e-02] [-7.84180401e-02 3.68736377e-03 9.96913745e-01 -8.78253603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.437719421 meters 0.06468716234590616 Centerline is valid? [True, True] Translation: X:8.48, Y:0.02, Z:-0.89 [[ 9.96201884e-01 -4.44442581e-02 7.48766623e-02 8.47834112e+00] [ 4.45724460e-02 9.99006154e-01 -4.09643722e-05 1.93858025e-02] [-7.48004258e-02 3.37824477e-03 9.97192802e-01 -8.85162225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.467719421 meters 0.06347047750099051 Centerline is valid? [True, True] Translation: X:8.51, Y:0.02, Z:-0.89 [[ 9.96381482e-01 -4.10864561e-02 7.44032587e-02 8.50946691e+00] [ 4.12056193e-02 9.99150686e-01 -6.65991634e-05 2.44475331e-02] [-7.43373306e-02 3.13219052e-03 9.97228234e-01 -8.89706578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.497719421 meters 0.060238238896928344 Centerline is valid? [True, True] Translation: X:8.54, Y:0.04, Z:-0.89 [[ 9.96526755e-01 -3.32354223e-02 7.63533480e-02 8.54047918e+00] [ 3.33382579e-02 9.99444123e-01 -7.22755149e-05 3.88835431e-02] [-7.63085028e-02 2.61751209e-03 9.97080820e-01 -8.90597527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.527719421 meters 0.05932527755376263 Centerline is valid? [True, True] Translation: X:8.57, Y:0.05, Z:-0.89 [[ 9.96479875e-01 -2.71359531e-02 7.93189689e-02 8.57016142e+00] [ 2.72277648e-02 9.99629253e-01 -7.59857710e-05 4.92822715e-02] [-7.92874997e-02 2.23539652e-03 9.96849284e-01 -8.88960432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.557719421 meters 0.05807205581797428 Centerline is valid? [True, True] Translation: X:8.60, Y:0.06, Z:-0.89 [[ 9.96401041e-01 -2.38064009e-02 8.13524496e-02 8.60181038e+00] [ 2.38916627e-02 9.99714551e-01 -7.46403551e-05 5.63374625e-02] [-8.13274507e-02 2.01801701e-03 9.96685393e-01 -8.88445344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.587719421 meters 0.057311248096392264 Centerline is valid? [True, True] Translation: X:8.63, Y:0.06, Z:-0.89 [[ 9.96310911e-01 -2.14012386e-02 8.31056948e-02 8.63349210e+00] [ 2.14821472e-02 9.99769229e-01 -7.93896874e-05 6.16187665e-02] [-8.30848174e-02 1.86438558e-03 9.96540735e-01 -8.89488549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.617719421 meters 0.056201700683825684 Centerline is valid? [True, True] Translation: X:8.67, Y:0.07, Z:-0.89 [[ 9.96057412e-01 -1.83898840e-02 8.67838962e-02 8.66585609e+00] [ 1.84669806e-02 9.99829467e-01 -8.55572407e-05 6.84695634e-02] [-8.67675233e-02 1.68785645e-03 9.96227157e-01 -8.87762618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.647719421 meters 0.05549378958953174 Centerline is valid? [True, True] Translation: X:8.70, Y:0.07, Z:-0.89 [[ 9.95805906e-01 -1.49280546e-02 9.02648969e-02 8.69652589e+00] [ 1.49980635e-02 9.99887518e-01 -9.73225044e-05 7.19491620e-02] [-9.02532909e-02 1.45071298e-03 9.95917787e-01 -8.90195197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.677719421 meters 0.054907434735020764 Centerline is valid? [True, True] Translation: X:8.73, Y:0.08, Z:-0.89 [[ 9.95802694e-01 -1.10561490e-02 9.08556910e-02 8.72865675e+00] [ 1.11110863e-02 9.99938265e-01 -9.88734610e-05 7.62044054e-02] [-9.08489889e-02 1.10796388e-03 9.95864064e-01 -8.93145399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.707719421 meters 0.054907434735020764 Centerline is valid? [True, True] Translation: X:8.76, Y:0.08, Z:-0.90 [[ 9.95805978e-01 -1.07565792e-02 9.08556591e-02 8.76114801e+00] [ 1.08124086e-02 9.99941537e-01 -1.22290496e-04 7.59750731e-02] [-9.08490320e-02 1.10414612e-03 9.95864064e-01 -8.96477605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.737719421 meters 0.05435454220450757 Centerline is valid? [True, True] Translation: X:8.79, Y:0.08, Z:-0.90 [[ 9.95874461e-01 -2.60520407e-03 9.07043029e-02 8.79377968e+00] [ 2.62974503e-03 9.99996531e-01 -1.51050025e-04 8.47146010e-02] [-9.07035947e-02 3.88956052e-04 9.95877857e-01 -8.99923649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.767719421 meters 0.054100861380980164 Centerline is valid? [True, True] Translation: X:8.83, Y:0.09, Z:-0.90 [[ 9.95962652e-01 2.34455852e-03 8.97379441e-02 8.82589357e+00] [-2.33947866e-03 9.99997250e-01 -1.61789981e-04 8.90053708e-02] [-8.97380767e-02 -4.88032268e-05 9.95965399e-01 -9.03832567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.797719421 meters 0.05438953770111446 Centerline is valid? [True, True] Translation: X:8.86, Y:0.10, Z:-0.91 [[ 9.96138891e-01 1.21688822e-02 8.69438201e-02 8.85772224e+00] [-1.21999194e-02 9.99925563e-01 -1.74390369e-04 9.83559319e-02] [-8.69394704e-02 -8.86990572e-04 9.96213201e-01 -9.07345222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.827719421 meters 0.054842322766201074 Centerline is valid? [True, True] Translation: X:8.89, Y:0.10, Z:-0.91 [[ 9.96230817e-01 1.63321085e-02 8.51905033e-02 8.88944494e+00] [-1.63768260e-02 9.99865876e-01 -1.73954163e-04 1.01448768e-01] [-8.51819182e-02 -1.22185155e-03 9.96364666e-01 -9.11626381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.857719421 meters 0.05556691990556416 Centerline is valid? [True, True] Translation: X:8.92, Y:0.10, Z:-0.92 [[ 9.96513987e-01 1.89255428e-02 8.12508272e-02 8.91999303e+00] [-1.89731036e-02 9.99819977e-01 -1.86737678e-04 1.01243911e-01] [-8.12397343e-02 -1.35549366e-03 9.96693668e-01 -9.19885179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.887719421 meters 0.0551551881182366 Centerline is valid? [True, True] Translation: X:8.95, Y:0.09, Z:-0.92 [[ 9.96587500e-01 1.62123013e-02 8.09352569e-02 8.95233105e+00] [-1.62489870e-02 9.99867955e-01 -2.05388357e-04 9.40109666e-02] [-8.09278997e-02 -1.11042847e-03 9.96719340e-01 -9.24479829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.917719421 meters 0.055195088731086674 Centerline is valid? [True, True] Translation: X:8.98, Y:0.09, Z:-0.93 [[ 9.96560391e-01 1.61394544e-02 8.12828677e-02 8.98321012e+00] [-1.61742654e-02 9.99869162e-01 -2.30190305e-04 9.15188310e-02] [-8.12759479e-02 -1.08529213e-03 9.96691047e-01 -9.28724919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.947719421 meters 0.05537885342927509 Centerline is valid? [True, True] Translation: X:9.02, Y:0.09, Z:-0.93 [[ 9.96681508e-01 1.77542701e-02 7.94402809e-02 9.01518138e+00] [-1.77919412e-02 9.99841684e-01 -2.33641346e-04 8.60918125e-02] [-7.94318523e-02 -1.18053080e-03 9.96839600e-01 -9.34991020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.977719421 meters 0.05582598475654611 Centerline is valid? [True, True] Translation: X:9.05, Y:0.09, Z:-0.94 [[ 9.96672040e-01 1.97426876e-02 7.90890004e-02 9.04572172e+00] [-1.97845741e-02 9.99804234e-01 -2.54027827e-04 8.56308331e-02] [-7.90785327e-02 -1.31155976e-03 9.96867527e-01 -9.40163083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.007719421000001 meters 0.055629700720659696 Centerline is valid? [True, True] Translation: X:9.08, Y:0.08, Z:-0.94 [[ 9.96576900e-01 2.25441562e-02 7.95376799e-02 9.07771196e+00] [-2.25938956e-02 9.99744688e-01 -2.74661336e-04 8.37671433e-02] [-7.95235649e-02 -1.52334489e-03 9.96831822e-01 -9.41842238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.037719421 meters 0.055641085429043044 Centerline is valid? [True, True] Translation: X:9.11, Y:0.08, Z:-0.94 [[ 9.96501212e-01 2.26282809e-02 8.04567886e-02 9.10920861e+00] [-2.26776743e-02 9.99742783e-01 -2.99920939e-04 8.27853634e-02] [-8.04428805e-02 -1.52570127e-03 9.96758052e-01 -9.44417506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.067719421 meters 0.05548829165377471 Centerline is valid? [True, True] Translation: X:9.14, Y:0.08, Z:-0.95 [[ 9.96420953e-01 2.11943198e-02 8.18296125e-02 9.14058082e+00] [-2.12389169e-02 9.99774376e-01 -3.25507174e-04 8.03765420e-02] [-8.18180486e-02 -1.41363017e-03 9.96646281e-01 -9.47451095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.097719421 meters 0.054223124407701113 Centerline is valid? [True, True] Translation: X:9.17, Y:0.07, Z:-0.95 [[ 9.96486873e-01 1.58841047e-02 8.22289929e-02 9.17332949e+00] [-1.59093046e-02 9.99873378e-01 -3.48784986e-04 6.76312746e-02] [-8.22241211e-02 -9.60646436e-04 9.96613401e-01 -9.47345685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.127719421 meters 0.05378039530707994 Centerline is valid? [True, True] Translation: X:9.20, Y:0.06, Z:-0.95 [[ 9.96432441e-01 1.20366586e-02 8.35314911e-02 9.20483779e+00] [-1.20483123e-02 9.99927350e-01 -3.64592169e-04 6.11146814e-02] [-8.35298110e-02 -6.43122028e-04 9.96505071e-01 -9.50665857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.157719421 meters 0.0534939028976022 Centerline is valid? [True, True] Translation: X:9.24, Y:0.05, Z:-0.95 [[ 9.96174105e-01 4.01808267e-03 8.72983872e-02 9.23624129e+00] [-3.99790744e-03 9.99991926e-01 -4.05945262e-04 4.77211157e-02] [-8.72993135e-02 5.53812869e-05 9.96182125e-01 -9.52395816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.187719421 meters 0.0535662980152595 Centerline is valid? [True, True] Translation: X:9.27, Y:0.04, Z:-0.96 [[ 9.96093602e-01 7.34748454e-04 8.83006040e-02 9.26956363e+00] [-6.99356769e-04 9.99999662e-01 -4.31745656e-04 4.08745457e-02] [-8.83008914e-02 3.68305460e-04 9.96093779e-01 -9.56131048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.217719421 meters 0.0539523854006419 Centerline is valid? [True, True] Translation: X:9.30, Y:0.03, Z:-0.96 [[ 9.96247352e-01 -2.04417497e-03 8.65276499e-02 9.30135709e+00] [ 2.09085702e-03 9.99997713e-01 -4.48879350e-04 3.18095473e-02] [-8.65265345e-02 6.28111809e-04 9.96249348e-01 -9.61727446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.247719421 meters 0.054262786564946236 Centerline is valid? [True, True] Translation: X:9.33, Y:0.03, Z:-0.97 [[ 9.96410573e-01 -3.73786338e-03 8.45694870e-02 9.33260891e+00] [ 3.79038080e-03 9.99992710e-01 -4.60442363e-04 3.00278854e-02] [-8.45671495e-02 7.79340199e-04 9.96417478e-01 -9.66554277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.277719421 meters 0.054672319041200554 Centerline is valid? [True, True] Translation: X:9.36, Y:0.03, Z:-0.97 [[ 9.96771436e-01 -4.77561041e-03 8.01492284e-02 9.36452973e+00] [ 4.82784705e-03 9.99988241e-01 -4.57967921e-04 3.05047578e-02] [-8.01460989e-02 8.43437557e-04 9.96782770e-01 -9.70739451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.307719421 meters 0.054784261638321265 Centerline is valid? [True, True] Translation: X:9.39, Y:0.03, Z:-0.98 [[ 9.97025214e-01 -1.62672678e-03 7.70589201e-02 9.39465643e+00] [ 1.66591861e-03 9.99998514e-01 -4.44315722e-04 3.20700154e-02] [-7.70580828e-02 5.71367867e-04 9.97026442e-01 -9.77789946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.337719421 meters 0.0545966937049095 Centerline is valid? [True, True] Translation: X:9.43, Y:0.04, Z:-0.98 [[ 9.97160212e-01 1.22119264e-03 7.52995323e-02 9.42654212e+00] [-1.19146174e-03 9.99999194e-01 -4.39755887e-04 3.55668308e-02] [-7.53000086e-02 3.48790562e-04 9.97160863e-01 -9.80028326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.367719421 meters 0.054759368812774545 Centerline is valid? [True, True] Translation: X:9.46, Y:0.04, Z:-0.99 [[ 9.97308783e-01 9.41016320e-03 7.27092857e-02 9.45770917e+00] [-9.40280128e-03 9.99955694e-01 -4.43546898e-04 4.49894051e-02] [-7.27102381e-02 -2.41317747e-04 9.97353078e-01 -9.88061952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.397719421 meters 0.054738582221337026 Centerline is valid? [True, True] Translation: X:9.49, Y:0.05, Z:-0.99 [[ 9.97186050e-01 1.34329690e-02 7.37532221e-02 9.49019766e+00] [-1.34350721e-02 9.99909636e-01 -4.67622920e-04 4.99996520e-02] [-7.37528390e-02 -5.24572803e-04 9.97276413e-01 -9.90798158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.427719421 meters 0.05479302230807051 Centerline is valid? [True, True] Translation: X:9.52, Y:0.06, Z:-0.99 [[ 9.96767046e-01 2.02045140e-02 7.77639659e-02 9.52171816e+00] [-2.02256633e-02 9.99795307e-01 -5.15710037e-04 6.24854121e-02] [-7.77584679e-02 -1.05878502e-03 9.96971664e-01 -9.89560877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.457719421 meters 0.05476573870569373 Centerline is valid? [True, True] Translation: X:9.55, Y:0.07, Z:-0.99 [[ 9.96435008e-01 2.26306768e-02 8.12719334e-02 9.55467713e+00] [-2.26598743e-02 9.99743073e-01 -5.63175345e-04 6.61530087e-02] [-8.12637975e-02 -1.28044416e-03 9.96691806e-01 -9.88514062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.487719421 meters 0.054370641518387615 Centerline is valid? [True, True] Translation: X:9.59, Y:0.06, Z:-0.99 [[ 9.96230310e-01 2.23638440e-02 8.38154433e-02 9.58676780e+00] [-2.23935435e-02 9.99749061e-01 -5.85874776e-04 6.34612414e-02] [-8.38075132e-02 -1.29325856e-03 9.96481123e-01 -9.89916916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.517719421 meters 0.053698980000157916 Centerline is valid? [True, True] Translation: X:9.62, Y:0.06, Z:-0.99 [[ 9.96026581e-01 2.08351532e-02 8.65849134e-02 9.61883955e+00] [-2.08590159e-02 9.99782229e-01 -6.29227425e-04 5.94837544e-02] [-8.65791678e-02 -1.17934885e-03 9.96244276e-01 -9.90763355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.547719421 meters 0.053554357047916 Centerline is valid? [True, True] Translation: X:9.65, Y:0.06, Z:-0.99 [[ 9.95801564e-01 1.97669766e-02 8.93784804e-02 9.65028501e+00] [-1.97858014e-02 9.99804014e-01 -6.75449039e-04 5.67516392e-02] [-8.93743151e-02 -1.09581165e-03 9.95997506e-01 -9.93022918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.577719421 meters 0.05318717822976034 Centerline is valid? [True, True] Translation: X:9.68, Y:0.05, Z:-0.99 [[ 9.95678425e-01 1.76878186e-02 9.11680583e-02 9.68137148e+00] [-1.76965421e-02 9.99843150e-01 -7.12740045e-04 5.33078921e-02] [-9.11663654e-02 -9.03699498e-04 9.95835266e-01 -9.93729799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.607719421 meters 0.05303733524845228 Centerline is valid? [True, True] Translation: X:9.71, Y:0.06, Z:-0.99 [[ 9.95340974e-01 2.00364097e-02 9.43127089e-02 9.71397303e+00] [-2.00539887e-02 9.99798609e-01 -7.61486566e-04 5.64577100e-02] [-9.43089726e-02 -1.13340722e-03 9.95542331e-01 -9.93194878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.637719421 meters 0.053204214981383856 Centerline is valid? [True, True] Translation: X:9.75, Y:0.06, Z:-0.99 [[ 9.95070693e-01 2.31897863e-02 9.64186142e-02 9.74656240e+00] [-2.32202015e-02 9.99730049e-01 -8.06733965e-04 5.91871248e-02] [-9.64112939e-02 -1.43610233e-03 9.95340545e-01 -9.94261158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.667719421 meters 0.05470556954339532 Centerline is valid? [True, True] Translation: X:9.78, Y:0.07, Z:-1.00 [[ 9.94842639e-01 3.26257087e-02 9.60400307e-02 9.77625425e+00] [-3.26971314e-02 9.99464961e-01 -8.30405440e-04 6.73969733e-02] [-9.60157381e-02 -2.31411077e-03 9.95377126e-01 -9.97078300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.697719421 meters 0.05516247579672666 Centerline is valid? [True, True] Translation: X:9.81, Y:0.07, Z:-1.00 [[ 9.94951700e-01 3.71248745e-02 9.32354947e-02 9.80666277e+00] [-3.72118606e-02 9.99307074e-01 -8.05977664e-04 6.80108961e-02] [-9.32008112e-02 -2.66755738e-03 9.95643758e-01 -1.00260309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.727719421 meters 0.05796251682764999 Centerline is valid? [True, True] Translation: X:9.84, Y:0.07, Z:-1.01 [[ 9.95040469e-01 4.40550887e-02 8.91830428e-02 9.83584840e+00] [-4.41621750e-02 9.99024076e-01 -7.73051057e-04 7.43500584e-02] [-8.91300638e-02 -3.16930006e-03 9.96014953e-01 -1.01242583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.757719421000001 meters 0.061312097914865964 Centerline is valid? [True, True] Translation: X:9.87, Y:0.09, Z:-1.02 [[ 9.95141043e-01 4.71754611e-02 8.64221071e-02 9.86535783e+00] [-4.72879029e-02 9.98881022e-01 -7.46797073e-04 8.53595342e-02] [-8.63606331e-02 -3.34355179e-03 9.96258331e-01 -1.01811870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.787719421 meters 0.06046018000753278 Centerline is valid? [True, True] Translation: X:9.90, Y:0.08, Z:-1.02 [[ 9.95314217e-01 4.83982408e-02 8.37091346e-02 9.89721588e+00] [-4.85080105e-02 9.98822532e-01 -7.23229729e-04 8.22792504e-02] [-8.36455728e-02 -3.34072275e-03 9.96489969e-01 -1.02183931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.817719421 meters 0.06109926819462252 Centerline is valid? [True, True] Translation: X:9.93, Y:0.08, Z:-1.03 [[ 9.95872374e-01 4.74943934e-02 7.73466060e-02 9.92874286e+00] [-4.75833457e-02 9.98867030e-01 -6.93556994e-04 7.81262429e-02] [-7.72919147e-02 -2.98971604e-03 9.97004023e-01 -1.03207455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.847719421 meters 0.06077477589358882 Centerline is valid? [True, True] Translation: X:9.96, Y:0.07, Z:-1.04 [[ 9.95994114e-01 4.69043485e-02 7.61295463e-02 9.96097595e+00] [-4.69887346e-02 9.98895186e-01 -6.83372285e-04 7.44493063e-02] [-7.60774904e-02 -2.89659627e-03 9.97097701e-01 -1.03747168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.877719421 meters 0.06038621818243841 Centerline is valid? [True, True] Translation: X:9.99, Y:0.07, Z:-1.04 [[ 9.96050661e-01 4.53247862e-02 7.63462102e-02 9.99330433e+00] [-4.54033307e-02 9.98968486e-01 -7.07507485e-04 7.13636255e-02] [-7.62995257e-02 -2.76165893e-03 9.97081118e-01 -1.04119285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.907719421 meters 0.06001375014450115 Centerline is valid? [True, True] Translation: X:10.02, Y:0.07, Z:-1.04 [[ 9.95843969e-01 4.08464851e-02 8.14024199e-02 1.00230185e+01] [-4.09183605e-02 9.99162184e-01 -7.85735377e-04 6.79608545e-02] [-8.13663142e-02 -2.54838373e-03 9.96681006e-01 -1.04303870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.937719421 meters 0.056099748529428645 Centerline is valid? [True, True] Translation: X:10.06, Y:0.06, Z:-1.04 [[ 9.95812483e-01 3.76392035e-02 8.33113970e-02 1.00554059e+01] [-3.77034125e-02 9.99288651e-01 -8.03011657e-04 5.56292656e-02] [-8.32823582e-02 -2.34147494e-03 9.96523239e-01 -1.03942970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.967719421 meters 0.054346654052186284 Centerline is valid? [True, True] Translation: X:10.09, Y:0.04, Z:-1.04 [[ 9.95809889e-01 3.17827268e-02 8.57468536e-02 1.00865340e+01] [-3.18285919e-02 9.99492995e-01 -8.32524038e-04 4.35926856e-02] [-8.57298394e-02 -1.90016594e-03 9.96316608e-01 -1.03978149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.997719421 meters 0.05306668474196845 Centerline is valid? [True, True] Translation: X:10.12, Y:0.03, Z:-1.04 [[ 9.95906538e-01 2.54533638e-02 8.67311589e-02 1.01177839e+01] [-2.54762270e-02 9.99675072e-01 -8.43437568e-04 3.08785413e-02] [-8.67244459e-02 -1.36959770e-03 9.96231396e-01 -1.04192724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.027719421 meters 0.052718152261141446 Centerline is valid? [True, True] Translation: X:10.15, Y:0.03, Z:-1.04 [[ 9.95893116e-01 2.26781143e-02 8.76504685e-02 1.01491180e+01] [-2.26907147e-02 9.99742169e-01 -8.52711689e-04 2.63368393e-02] [-8.76472074e-02 -1.13964207e-03 9.96150926e-01 -1.04430658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.057719421 meters 0.0522580286542709 Centerline is valid? [True, True] Translation: X:10.18, Y:0.02, Z:-1.04 [[ 9.95890435e-01 1.94027964e-02 8.84633994e-02 1.01819387e+01] [-1.94005035e-02 9.99811400e-01 -8.85803956e-04 2.05472250e-02] [-8.84639023e-02 -8.34070801e-04 9.96079034e-01 -1.04497099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.087719421 meters 0.052261305922767336 Centerline is valid? [True, True] Translation: X:10.21, Y:0.01, Z:-1.05 [[ 9.96210645e-01 1.37805221e-02 8.58746112e-02 1.02133939e+01] [-1.37570730e-02 9.99904993e-01 -8.64869169e-04 1.09680711e-02] [-8.58783709e-02 -3.19791421e-04 9.96305577e-01 -1.04988790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.117719421 meters 0.05251801481678901 Centerline is valid? [True, True] Translation: X:10.25, Y:0.00, Z:-1.06 [[ 9.96593632e-01 1.01078601e-02 8.18471967e-02 1.02450520e+01] [-1.00722813e-02 9.99948914e-01 -8.47583443e-04 2.60739146e-03] [-8.18515828e-02 2.03082735e-05 9.96644529e-01 -1.05533128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.147719421 meters 0.05250872622032498 Centerline is valid? [True, True] Translation: X:10.28, Y:0.00, Z:-1.06 [[ 9.96648537e-01 1.08807869e-02 8.10758985e-02 1.02763772e+01] [-1.08464236e-02 9.99940802e-01 -8.64259032e-04 1.01351460e-03] [-8.10805028e-02 -1.80210413e-05 9.96707556e-01 -1.05918359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.177719421 meters 0.05272944615169155 Centerline is valid? [True, True] Translation: X:10.31, Y:0.00, Z:-1.06 [[ 9.96753412e-01 1.26381315e-02 7.95167523e-02 1.03080812e+01] [-1.26096498e-02 9.99920125e-01 -8.60329018e-04 8.50586976e-04] [-7.95212739e-02 -1.45142520e-04 9.96833159e-01 -1.06482307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.207719421 meters 0.05349603588125203 Centerline is valid? [True, True] Translation: X:10.34, Y:0.00, Z:-1.07 [[ 9.96702680e-01 2.07668805e-02 7.84379026e-02 1.03385460e+01] [-2.07639766e-02 9.99784042e-01 -8.52707718e-04 2.90970075e-03] [-7.84386714e-02 -7.78786706e-04 9.96918637e-01 -1.07207401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.237719421 meters 0.0542114854654941 Centerline is valid? [True, True] Translation: X:10.37, Y:0.01, Z:-1.08 [[ 9.96561590e-01 2.65229708e-02 7.84954049e-02 1.03709386e+01] [-2.65362353e-02 9.99647470e-01 -8.74290131e-04 6.61193301e-03] [-7.84909217e-02 -1.21168857e-03 9.96914092e-01 -1.07604321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.267719421 meters 0.05674987985530426 Centerline is valid? [True, True] Translation: X:10.40, Y:0.02, Z:-1.08 [[ 9.96430749e-01 3.57786204e-02 7.64568692e-02 1.04005185e+01] [-3.58162112e-02 9.99358006e-01 -8.79928726e-04 1.53158761e-02] [-7.64392670e-02 -1.86160734e-03 9.97072501e-01 -1.07941371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.297719421 meters 0.056767999623810496 Centerline is valid? [True, True] Translation: X:10.43, Y:0.01, Z:-1.08 [[ 9.96254533e-01 3.84683600e-02 7.74408816e-02 1.04327215e+01] [-3.85156181e-02 9.99257607e-01 -8.83798988e-04 9.11638962e-03] [-7.74173884e-02 -2.10219468e-03 9.96996554e-01 -1.07733210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.327719421 meters 0.05656107862646144 Centerline is valid? [True, True] Translation: X:10.47, Y:0.00, Z:-1.08 [[ 9.96078126e-01 3.77131879e-02 8.00380001e-02 1.04651604e+01] [-3.77592539e-02 9.99286424e-01 -9.38426401e-04 7.01236013e-04] [-8.00162780e-02 -2.08742916e-03 9.96791371e-01 -1.07808970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.357719421 meters 0.055411978557700164 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.02, Z:-1.08 [[ 9.96111536e-01 3.31807229e-02 8.16140164e-02 1.04964102e+01] [-3.32109792e-02 9.99447876e-01 -9.87129241e-04 -2.11756931e-02] [-8.16017090e-02 -1.72719057e-03 9.96663523e-01 -1.07931151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.387719421 meters 0.05539549374898769 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.03, Z:-1.08 [[ 9.96197708e-01 3.30146858e-02 8.06235498e-02 1.05295403e+01] [-3.30439131e-02 9.99453428e-01 -9.72053458e-04 -2.95804186e-02] [-8.06115753e-02 -1.69576014e-03 9.96744149e-01 -1.08245553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.417719421 meters 0.055952531439727504 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.04, Z:-1.09 [[ 9.96163973e-01 3.41069430e-02 8.05857041e-02 1.05607536e+01] [-3.41371553e-02 9.99416654e-01 -1.00318787e-03 -3.75075925e-02] [-8.05729104e-02 -1.75162708e-03 9.96747179e-01 -1.08507849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.447719421 meters 0.0561933448000402 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.04, Z:-1.09 [[ 9.96118736e-01 3.60595043e-02 8.02943055e-02 1.05929659e+01] [-3.60950138e-02 9.99347853e-01 -1.00964457e-03 -4.00141357e-02] [-8.02783490e-02 -1.89249820e-03 9.96770688e-01 -1.08501859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.477719421 meters 0.057837747150304014 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.04, Z:-1.09 [[ 9.95992259e-01 4.15746306e-02 7.91894546e-02 1.06246334e+01] [-4.16242257e-02 9.99132811e-01 -1.02502259e-03 -4.17426820e-02] [-7.91633973e-02 -2.27528517e-03 9.96859057e-01 -1.08582266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.507719421000001 meters 0.058896982840377345 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.05, Z:-1.09 [[ 9.95919852e-01 4.40413013e-02 7.87655503e-02 1.06549647e+01] [-4.40977932e-02 9.99026696e-01 -1.02288439e-03 -4.56152565e-02] [-7.87339366e-02 -2.45467607e-03 9.96892643e-01 -1.09005895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.537719421 meters 0.060073650810602716 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.06, Z:-1.10 [[ 9.95745597e-01 4.77809980e-02 7.87888491e-02 1.06859585e+01] [-4.78491155e-02 9.98854050e-01 -1.02422227e-03 -5.70630954e-02] [-7.87474994e-02 -2.75011192e-03 9.96890801e-01 -1.09786997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.567719421 meters 0.060073650810602716 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.06, Z:-1.10 [[ 9.95729206e-01 4.81215033e-02 7.87887629e-02 1.07184494e+01] [-4.81901588e-02 9.98837647e-01 -1.03086546e-03 -5.77384525e-02] [-7.87467894e-02 -2.77038014e-03 9.96890801e-01 -1.10121005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.597719421 meters 0.06006276338531182 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.06, Z:-1.11 [[ 9.95826773e-01 4.88311159e-02 7.71009752e-02 1.07501324e+01] [-4.88968975e-02 9.98803295e-01 -1.03552245e-03 -6.24169286e-02] [-7.70592738e-02 -2.73879750e-03 9.97022752e-01 -1.10579009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.627719421 meters 0.060380119897166074 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.06, Z:-1.11 [[ 9.96160058e-01 4.78585008e-02 7.33123706e-02 1.07826044e+01] [-4.79137930e-02 9.98850969e-01 -1.00532992e-03 -6.33051328e-02] [-7.32762460e-02 -2.51120424e-03 9.97308521e-01 -1.10936880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.657719421 meters 0.06020024277792586 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.06, Z:-1.11 [[ 9.96267633e-01 4.62476348e-02 7.28831868e-02 1.08151035e+01] [-4.62959848e-02 9.98927238e-01 -1.02672377e-03 -6.48712685e-02] [-7.28524840e-02 -2.35130724e-03 9.97339956e-01 -1.11246421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.687719421 meters 0.05834815974454048 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.07, Z:-1.11 [[ 9.96337607e-01 4.41985245e-02 7.31974284e-02 1.08472958e+01] [-4.42416406e-02 9.99020325e-01 -1.03301357e-03 -7.16722285e-02] [-7.31713764e-02 -2.20914405e-03 9.97316935e-01 -1.11290964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.717719421 meters 0.05655062179780261 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.09, Z:-1.12 [[ 9.96567524e-01 3.56633296e-02 7.47080794e-02 1.08760422e+01] [-3.56818575e-02 9.99362608e-01 -1.08713426e-03 -8.91983844e-02] [-7.46992319e-02 -1.58232034e-03 9.97204854e-01 -1.12045311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.747719421 meters 0.05465639866108823 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.11, Z:-1.13 [[ 9.96985512e-01 2.25342887e-02 7.42434775e-02 1.09057780e+01] [-2.25163164e-02 9.99745893e-01 -1.07917032e-03 -1.09917314e-01] [-7.42489301e-02 -5.95772451e-04 9.97239561e-01 -1.12962559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.777719421 meters 0.05373081397599183 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.12, Z:-1.13 [[ 9.97128292e-01 1.45851136e-02 7.43131473e-02 1.09385548e+01] [-1.45450656e-02 9.99893632e-01 -1.08010248e-03 -1.20058637e-01] [-7.43209961e-02 -3.88886225e-06 9.97234370e-01 -1.12914937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.807719421 meters 0.0554488061980241 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.14, Z:-1.13 [[ 9.97262522e-01 -2.30650232e-03 7.39063050e-02 1.09681386e+01] [ 2.39363455e-03 9.99996541e-01 -1.09040343e-03 -1.37553451e-01] [-7.39035343e-02 1.26432316e-03 9.97264593e-01 -1.13169764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.837719421 meters 0.05677377693810876 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.15, Z:-1.13 [[ 9.97398093e-01 -9.55517209e-03 7.14544873e-02 1.09985740e+01] [ 9.65507431e-03 9.99952834e-01 -1.05285595e-03 -1.45029859e-01] [-7.14410569e-02 1.74001491e-03 9.97443306e-01 -1.13363659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.867719421 meters 0.058206603362457365 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.15, Z:-1.14 [[ 9.97348375e-01 -1.48681129e-02 7.12401420e-02 1.10298807e+01] [ 1.49811724e-02 9.99887222e-01 -1.05294317e-03 -1.52759779e-01] [-7.12164524e-02 2.11741201e-03 9.97458637e-01 -1.13718584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.897719421 meters 0.06022727668506812 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.17, Z:-1.14 [[ 9.97144067e-01 -2.02265058e-02 7.27639923e-02 1.10599591e+01] [ 2.03589286e-02 9.99792154e-01 -1.07859683e-03 -1.66545034e-01] [-7.27270523e-02 2.55691335e-03 9.97348604e-01 -1.14156404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.927719421 meters 0.059823517143195136 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.17, Z:-1.14 [[ 9.97016486e-01 -1.88267484e-02 7.48577324e-02 1.10904151e+01] [ 1.89632751e-02 9.99819561e-01 -1.11339904e-03 -1.70719785e-01] [-7.48232635e-02 2.52962497e-03 9.97193602e-01 -1.14269894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.957719421 meters 0.05840724656267528 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.17, Z:-1.14 [[ 9.96917364e-01 -1.64698276e-02 7.67105862e-02 1.11224919e+01] [ 1.66063034e-02 9.99861454e-01 -1.14151701e-03 -1.65825091e-01] [-7.66811577e-02 2.41187740e-03 9.97052748e-01 -1.14242455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.987719421 meters 0.05440065686325382 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.14, Z:-1.14 [[ 9.96728035e-01 -4.52223535e-03 8.07017526e-02 1.11544741e+01] [ 4.63478984e-03 9.99988530e-01 -1.20742713e-03 -1.44291521e-01] [-8.06953667e-02 1.57751213e-03 9.96737563e-01 -1.13553629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.017719421 meters 0.05310215229246668 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.13, Z:-1.14 [[ 9.96676839e-01 3.77974171e-03 8.13694760e-02 1.11857541e+01] [-3.69300114e-03 9.99992441e-01 -1.21648111e-03 -1.33881410e-01] [-8.13734589e-02 9.11940977e-04 9.96683264e-01 -1.13742979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.047719421 meters 0.053092099274731616 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.11, Z:-1.14 [[ 9.96579264e-01 2.12855755e-02 7.98542116e-02 1.12163279e+01] [-2.12582829e-02 9.99773307e-01 -1.19200015e-03 -1.14329561e-01] [-7.98614816e-02 -5.09640783e-04 9.96805841e-01 -1.14435789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.077719421 meters 0.054637313238254034 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.10, Z:-1.15 [[ 9.96587356e-01 2.99901833e-02 7.69040384e-02 1.12473776e+01] [-2.99887813e-02 9.99549547e-01 -1.17333064e-03 -1.03798323e-01] [-7.69045851e-02 -1.13693190e-03 9.97037809e-01 -1.15086715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.107719421 meters 0.059000260365535025 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.08, Z:-1.16 [[ 9.96112558e-01 4.44836038e-02 7.60327564e-02 1.12764907e+01] [-4.45239954e-02 9.99007636e-01 -1.16461579e-03 -8.44017435e-02] [-7.60091105e-02 -2.22519368e-03 9.97104640e-01 -1.15724346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.137719421 meters 0.06021184020460943 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.08, Z:-1.16 [[ 9.95823545e-01 4.95155571e-02 7.67051347e-02 1.13080145e+01] [-4.95717747e-02 9.98769876e-01 -1.17210441e-03 -7.83551274e-02] [-7.66688153e-02 -2.63520049e-03 9.97053132e-01 -1.15858202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.167719421 meters 0.06049064423394164 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.07, Z:-1.16 [[ 9.95476284e-01 5.29937520e-02 7.88582952e-02 1.13400655e+01] [-5.30642469e-02 9.98590376e-01 -1.20280884e-03 -7.31344478e-02] [-7.88108760e-02 -2.98718837e-03 9.96885110e-01 -1.15802548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.197719421 meters 0.06190196431122967 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.07, Z:-1.16 [[ 9.95423556e-01 5.27626748e-02 7.96746091e-02 1.13713286e+01] [-5.28320995e-02 9.98602642e-01 -1.23791027e-03 -7.07159858e-02] [-7.96285906e-02 -2.97713184e-03 9.96820156e-01 -1.16290619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.227719421 meters 0.06058686706286814 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.08, Z:-1.17 [[ 9.95573850e-01 5.21314839e-02 7.81985800e-02 1.14046983e+01] [-5.21948602e-02 9.98636156e-01 -1.23463653e-03 -7.59459502e-02] [-7.81562928e-02 -2.85239210e-03 9.96937038e-01 -1.16549721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.257719421 meters 0.0601919509608893 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.08, Z:-1.17 [[ 9.96012984e-01 5.10213160e-02 7.31776057e-02 1.14365153e+01] [-5.10720541e-02 9.98694275e-01 -1.17887576e-03 -8.28789352e-02] [-7.31422037e-02 -2.56315507e-03 9.97318228e-01 -1.17386631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.287719421 meters 0.06090560344998307 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.09, Z:-1.18 [[ 9.96411727e-01 5.03392182e-02 6.80414028e-02 1.14669927e+01] [-5.03801417e-02 9.98729491e-01 -1.11546490e-03 -8.55331091e-02] [-6.80111072e-02 -2.31647321e-03 9.97681875e-01 -1.18170506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.317719421 meters 0.060910842577258414 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.09, Z:-1.19 [[ 9.96423060e-01 5.06766466e-02 6.76236843e-02 1.14987656e+01] [-5.07166186e-02 9.98712449e-01 -1.12666781e-03 -8.69403956e-02] [-6.75937110e-02 -2.30700682e-03 9.97710263e-01 -1.18506442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.347719421 meters 0.0627909488397471 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.09, Z:-1.19 [[ 9.96316309e-01 5.17500693e-02 6.83793998e-02 1.15307233e+01] [-5.17920695e-02 9.98657217e-01 -1.15965668e-03 -8.77773542e-02] [-6.83475934e-02 -2.38612577e-03 9.97658716e-01 -1.19133590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.377719421 meters 0.06178966206695079 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.09, Z:-1.19 [[ 9.96255979e-01 5.20824119e-02 6.90032435e-02 1.15631145e+01] [-5.21243680e-02 9.98639888e-01 -1.19357799e-03 -9.32596026e-02] [-6.89715557e-02 -2.40764125e-03 9.97615721e-01 -1.19272817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.407719421 meters 0.06173470377947049 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.10, Z:-1.19 [[ 9.96049117e-01 5.41312840e-02 7.03985896e-02 1.15956095e+01] [-5.41785805e-02 9.98530494e-01 -1.23881071e-03 -9.86141431e-02] [-7.03621968e-02 -2.58017933e-03 9.97518172e-01 -1.19349636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.437719421 meters 0.06272488684589833 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.10, Z:-1.20 [[ 9.95936967e-01 5.61399626e-02 7.04120925e-02 1.16271311e+01] [-5.61907644e-02 9.98419255e-01 -1.26058141e-03 -1.00221272e-01] [-7.03715580e-02 -2.70104968e-03 9.97517192e-01 -1.19798591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.467719421 meters 0.06527089176916193 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.10, Z:-1.20 [[ 9.95859654e-01 5.83891421e-02 6.96725043e-02 1.16574836e+01] [-5.84425333e-02 9.98289962e-01 -1.27357987e-03 -9.90299994e-02] [-6.96277249e-02 -2.80353084e-03 9.97569105e-01 -1.20450461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.497719421 meters 0.06841890001479152 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.10, Z:-1.21 [[ 9.95343761e-01 6.50955771e-02 7.10870119e-02 1.16889471e+01] [-6.51679917e-02 9.97873457e-01 -1.30255303e-03 -9.69322044e-02] [-7.10206328e-02 -3.33610977e-03 9.97469268e-01 -1.20556923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.527719421 meters 0.06781125950183729 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.10, Z:-1.20 [[ 9.94820417e-01 7.05079929e-02 7.32185815e-02 1.17198554e+01] [-7.05990797e-02 9.97503863e-01 -1.34650769e-03 -9.82436838e-02] [-7.31307574e-02 -3.82963112e-03 9.97315009e-01 -1.19962250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.557719421 meters 0.0719136190598226 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.09, Z:-1.20 [[ 9.94572265e-01 7.32538280e-02 7.38910437e-02 1.17487016e+01] [-7.33544070e-02 9.97305015e-01 -1.35539251e-03 -9.35475964e-02] [-7.37911961e-02 -4.07219790e-03 9.97265399e-01 -1.20407874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.587719421 meters 0.0710383900606917 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.10, Z:-1.21 [[ 9.94446051e-01 7.49284261e-02 7.39106390e-02 1.17776447e+01] [-7.50332053e-02 9.97180106e-01 -1.36193055e-03 -1.04165269e-01] [-7.38042661e-02 -4.19138569e-03 9.97263938e-01 -1.20690477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.617719421 meters 0.07034748139372689 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.11, Z:-1.21 [[ 9.94647449e-01 7.28221669e-02 7.33033677e-02 1.18066112e+01] [-7.29198827e-02 9.97336894e-01 -1.34589198e-03 -1.11374918e-01] [-7.32061638e-02 -4.00658495e-03 9.97308781e-01 -1.21218816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.647719421 meters 0.06682255809200276 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.13, Z:-1.22 [[ 9.95120904e-01 6.50732575e-02 7.41610306e-02 1.18358283e+01] [-6.51521212e-02 9.97874420e-01 -1.35787442e-03 -1.27573302e-01] [-7.40917567e-02 -3.48049923e-03 9.97245355e-01 -1.21563234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.677719421 meters 0.06512162497749689 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.14, Z:-1.22 [[ 9.95376860e-01 6.05313653e-02 7.45711813e-02 1.18661351e+01] [-6.05986168e-02 9.98161285e-01 -1.36251620e-03 -1.35027522e-01] [-7.45165411e-02 -3.16269335e-03 9.97214762e-01 -1.21909715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.707719421 meters 0.06229920731738784 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.15, Z:-1.22 [[ 9.95974142e-01 5.27189585e-02 7.24997860e-02 1.18951232e+01] [-5.27617057e-02 9.98606250e-01 -1.32671927e-03 -1.47975655e-01] [-7.24686827e-02 -2.50383429e-03 9.97367546e-01 -1.22489596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.737719421 meters 0.06115160611588433 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.15, Z:-1.23 [[ 9.96279259e-01 4.96767128e-02 7.04262882e-02 1.19267118e+01] [-4.97100895e-02 9.98762869e-01 -1.27970804e-03 -1.54697598e-01] [-7.04027333e-02 -2.22595051e-03 9.97516165e-01 -1.23091176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.767719421 meters 0.06033991665559359 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.16, Z:-1.23 [[ 9.96398436e-01 4.72310883e-02 7.04228742e-02 1.19590727e+01] [-4.72565409e-02 9.98881932e-01 -1.30550286e-03 -1.59644702e-01] [-7.04057969e-02 -2.02714042e-03 9.97516373e-01 -1.23464876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.797719421 meters 0.05731101295038614 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.17, Z:-1.23 [[ 9.96386291e-01 4.35392409e-02 7.29293745e-02 1.19913258e+01] [-4.35560392e-02 9.99050059e-01 -1.36078008e-03 -1.69661987e-01] [-7.29193432e-02 -1.82065208e-03 9.97336179e-01 -1.23161443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.827719421 meters 0.05687165171482337 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.17, Z:-1.23 [[ 9.96396238e-01 4.01420125e-02 7.47205204e-02 1.20214232e+01] [-4.01496604e-02 9.99192696e-01 -1.40035275e-03 -1.71418496e-01] [-7.47164112e-02 -1.60469731e-03 9.97203531e-01 -1.23424989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.857719421 meters 0.055638969289303335 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.18, Z:-1.23 [[ 9.96472981e-01 3.77532587e-02 7.49419139e-02 1.20541561e+01] [-3.77542605e-02 9.99286068e-01 -1.40381963e-03 -1.76345554e-01] [-7.49414092e-02 -1.43050821e-03 9.97186913e-01 -1.23463717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.887719421 meters 0.05506008854580853 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.18, Z:-1.24 [[ 9.96520414e-01 3.30588018e-02 7.65126145e-02 1.20838738e+01] [-3.30452335e-02 9.99452814e-01 -1.44371941e-03 -1.81590059e-01] [-7.65184755e-02 -1.08968134e-03 9.97067568e-01 -1.23891689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.917719421 meters 0.054737823747516894 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.18, Z:-1.24 [[ 9.96573425e-01 3.16980455e-02 7.63979227e-02 1.21163200e+01] [-3.16809084e-02 9.99497002e-01 -1.43655848e-03 -1.83724585e-01] [-7.64050308e-02 -9.88719590e-04 9.97076373e-01 -1.24201896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.947719421 meters 0.053412965184911475 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.19, Z:-1.24 [[ 9.96436060e-01 3.01181560e-02 7.87913354e-02 1.21492094e+01] [-3.00932706e-02 9.99545964e-01 -1.50348117e-03 -1.87461113e-01] [-7.88008434e-02 -8.72966125e-04 9.96889996e-01 -1.23928091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.977719421 meters 0.05326626631483398 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.19, Z:-1.24 [[ 9.96367244e-01 3.00006707e-02 7.97011601e-02 1.21812240e+01] [-2.99728986e-02 9.99549518e-01 -1.54504067e-03 -1.88958921e-01] [-7.97116084e-02 -8.49446878e-04 9.96817605e-01 -1.24165391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.007719421 meters 0.053300450112852164 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.19, Z:-1.25 [[ 9.96313914e-01 3.02921833e-02 8.02556450e-02 1.22119099e+01] [-3.02629515e-02 9.99540722e-01 -1.58083730e-03 -1.89104200e-01] [-8.02666724e-02 -8.53762496e-04 9.96773060e-01 -1.24595186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.037719421 meters 0.05356997846347716 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.18, Z:-1.25 [[ 9.96279359e-01 3.16382240e-02 8.01652194e-02 1.22448157e+01] [-3.16117267e-02 9.99498944e-01 -1.59995382e-03 -1.84601140e-01] [-8.01756718e-02 -9.40160039e-04 9.96780306e-01 -1.24952416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.067719421 meters 0.05446738240098584 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.18, Z:-1.26 [[ 9.96251511e-01 3.34510903e-02 7.97743815e-02 1.22758042e+01] [-3.34283915e-02 9.99439802e-01 -1.62038855e-03 -1.83883875e-01] [-7.97838958e-02 -1.05241471e-03 9.96811628e-01 -1.25708742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.097719421 meters 0.05424856076924784 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.19, Z:-1.26 [[ 9.96171064e-01 3.39008400e-02 8.05850165e-02 1.23076885e+01] [-3.38773856e-02 9.99424620e-01 -1.65865729e-03 -1.88609447e-01] [-8.05948794e-02 -1.07770328e-03 9.96746359e-01 -1.25947574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.127719421 meters 0.05420451716379521 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.19, Z:-1.26 [[ 9.96234544e-01 3.38526453e-02 7.98168633e-02 1.23392984e+01] [-3.38276980e-02 9.99426293e-01 -1.66509380e-03 -1.93837828e-01] [-7.98274396e-02 -1.04119679e-03 9.96808154e-01 -1.26493089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.157719421 meters 0.054589747169492074 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.19, Z:-1.27 [[ 9.96328726e-01 3.48098364e-02 7.82134602e-02 1.23717893e+01] [-3.47869377e-02 9.99393380e-01 -1.65565812e-03 -1.91908580e-01] [-7.82236475e-02 -1.07122702e-03 9.96935260e-01 -1.26892196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.187719421 meters 0.05642168670692059 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.18, Z:-1.27 [[ 9.96272126e-01 4.14775297e-02 7.56403715e-02 1.24031212e+01] [-4.14732088e-02 9.99138289e-01 -1.62857636e-03 -1.77596642e-01] [-7.56427407e-02 -1.51454369e-03 9.97133834e-01 -1.27015866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.217719421 meters 0.05866171620533408 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.17, Z:-1.27 [[ 9.96058709e-01 4.72812701e-02 7.50435193e-02 1.24329713e+01] [-4.72932941e-02 9.98879736e-01 -1.61779761e-03 -1.68647908e-01] [-7.50359423e-02 -1.93763383e-03 9.97178947e-01 -1.27356186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.247719421 meters 0.06452129945015858 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.16, Z:-1.28 [[ 9.95342344e-01 6.01382881e-02 7.53458989e-02 1.24626624e+01] [-6.01872200e-02 9.98185786e-01 -1.62312523e-03 -1.55154832e-01] [-7.53068173e-02 -2.91929492e-03 9.97156137e-01 -1.27955580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.277719421 meters 0.06407775050796208 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.16, Z:-1.28 [[ 9.94988320e-01 6.62503140e-02 7.48941840e-02 1.24936230e+01] [-6.63156170e-02 9.97797386e-01 -1.61729221e-03 -1.57370908e-01] [-7.48363672e-02 -3.35746717e-03 9.97190175e-01 -1.28107240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.307719421 meters 0.06805207032167644 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.15, Z:-1.29 [[ 9.94510845e-01 7.35400816e-02 7.44314138e-02 1.25230738e+01] [-7.36247030e-02 9.97284719e-01 -1.60999340e-03 -1.46007187e-01] [-7.43477107e-02 -3.87883484e-03 9.97224836e-01 -1.28607722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.337719421 meters 0.07047738780439218 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.14, Z:-1.29 [[ 9.94252006e-01 7.52741174e-02 7.61364275e-02 1.25530527e+01] [-7.53678490e-02 9.97154441e-01 -1.64553737e-03 -1.37912212e-01] [-7.60436432e-02 -4.10215994e-03 9.97096052e-01 -1.28790976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.367719421 meters 0.06696782425297722 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.14, Z:-1.28 [[ 9.94041509e-01 7.58676773e-02 7.82660438e-02 1.25834967e+01] [-7.59686830e-02 9.97108771e-01 -1.69041577e-03 -1.40452933e-01] [-7.81680066e-02 -4.26542483e-03 9.96931075e-01 -1.28370651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.397719421 meters 0.06707739606534506 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.14, Z:-1.29 [[ 9.94283081e-01 7.41871486e-02 7.67946782e-02 1.26125125e+01] [-7.42796841e-02 9.97236076e-01 -1.65464328e-03 -1.43216518e-01] [-7.67051768e-02 -4.05910062e-03 9.97045555e-01 -1.28949675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.427719420999999 meters 0.06473894858379863 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.16, Z:-1.30 [[ 9.95306977e-01 6.61754297e-02 7.06033566e-02 1.26414065e+01] [-6.62336205e-02 9.97802986e-01 -1.51914613e-03 -1.61280080e-01] [-7.05487702e-02 -3.16429918e-03 9.97503312e-01 -1.30349561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.457719421 meters 0.0630587003488022 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.17, Z:-1.31 [[ 9.95712912e-01 6.09049424e-02 6.96159773e-02 1.26709804e+01] [-6.09487116e-02 9.98139776e-01 -1.49716298e-03 -1.70590758e-01] [-6.95776606e-02 -2.75225961e-03 9.97572741e-01 -1.30964337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.487719421 meters 0.0630587003488022 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.17, Z:-1.31 [[ 9.95691534e-01 6.12532116e-02 6.96161778e-02 1.27034556e+01] [-6.12984730e-02 9.98118371e-01 -1.48794595e-03 -1.71555674e-01] [-6.95763275e-02 -2.78583021e-03 9.97572741e-01 -1.31298716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.517719421 meters 0.058728305044279366 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.18, Z:-1.31 [[ 9.96264252e-01 4.85487665e-02 7.14181810e-02 1.27329084e+01] [-4.85611304e-02 9.98818988e-01 -1.56418877e-03 -1.83147109e-01] [-7.14097747e-02 -1.90980224e-03 9.97445235e-01 -1.31116544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.547719421 meters 0.05643437172671831 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.19, Z:-1.31 [[ 9.96491113e-01 4.07652871e-02 7.31002944e-02 1.27642975e+01] [-4.07575639e-02 9.99167787e-01 -1.59796138e-03 -1.90142065e-01] [-7.31046008e-02 -1.38703561e-03 9.97323314e-01 -1.30984502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.577719421 meters 0.055005434335965366 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.20, Z:-1.31 [[ 9.96791428e-01 3.27128960e-02 7.30528214e-02 1.27956495e+01] [-3.26835170e-02 9.99464474e-01 -1.59785558e-03 -2.00525406e-01] [-7.30659701e-02 -7.94894386e-04 9.97326793e-01 -1.31162115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.607719421 meters 0.05461698563005312 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.23, Z:-1.32 [[ 9.97229102e-01 1.83788693e-02 7.20856162e-02 1.28251670e+01] [-1.83131355e-02 9.99831063e-01 -1.57275187e-03 -2.30203603e-01] [-7.21023437e-02 2.48280278e-04 9.97397208e-01 -1.32166413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.637719421 meters 0.05505920979557261 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.25, Z:-1.33 [[ 9.97164817e-01 8.96646080e-03 7.47123180e-02 1.28577459e+01] [-8.86797279e-03 9.99959318e-01 -1.64986934e-03 -2.51143405e-01] [-7.47240721e-02 9.82644859e-04 9.97203764e-01 -1.32552448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.667719421 meters 0.05549914742634829 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.26, Z:-1.33 [[ 9.97102783e-01 5.55129297e-03 7.58631863e-02 1.28890438e+01] [-5.43774378e-03 9.99983765e-01 -1.70324225e-03 -2.56582931e-01] [-7.58714098e-02 1.28578302e-03 9.97116781e-01 -1.32729675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.697719421 meters 0.05731100551838073 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.26, Z:-1.33 [[ 9.97290362e-01 -8.05389698e-04 7.35614339e-02 1.29193328e+01] [ 9.31337916e-04 9.99998159e-01 -1.67786442e-03 -2.63450746e-01] [-7.35599471e-02 1.74182857e-03 9.97289276e-01 -1.33149842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.727719421 meters 0.05832512430671005 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.27, Z:-1.34 [[ 9.97432023e-01 -2.07706146e-03 7.15894167e-02 1.29495706e+01] [ 2.19943224e-03 9.99996252e-01 -1.63055482e-03 -2.66403303e-01] [-7.15857616e-02 1.78382367e-03 9.97432853e-01 -1.33686412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.757719421 meters 0.05816210623060729 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.27, Z:-1.34 [[ 9.97460650e-01 -2.61884376e-04 7.12192593e-02 1.29808944e+01] [ 3.78839514e-04 9.99998602e-01 -1.62868161e-03 -2.67064871e-01] [-7.12187332e-02 1.65152648e-03 9.97459355e-01 -1.34022438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.787719421 meters 0.057477182574772766 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.27, Z:-1.34 [[ 9.97333002e-01 1.66443396e-03 7.29665161e-02 1.30130132e+01] [-1.54543002e-03 9.99997382e-01 -1.68736624e-03 -2.67622199e-01] [-7.29691336e-02 1.57010140e-03 9.97332964e-01 -1.34273275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.817719421 meters 0.055377271073889435 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.26, Z:-1.34 [[ 9.97119514e-01 5.35339967e-03 7.56572272e-02 1.30448798e+01] [-5.23391347e-03 9.99984723e-01 -1.77749875e-03 -2.62864357e-01] [-7.56655870e-02 1.37639531e-03 9.97132300e-01 -1.34034818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.847719421 meters 0.05536731922702504 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.26, Z:-1.35 [[ 9.97010214e-01 7.76575144e-03 7.68786516e-02 1.30759550e+01] [-7.64971573e-03 9.99969114e-01 -1.80371103e-03 -2.62219618e-01] [-7.68902843e-02 1.21021849e-03 9.97038826e-01 -1.34579948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.877719421 meters 0.05484649185757684 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.26, Z:-1.35 [[ 9.96938762e-01 1.13879869e-02 7.73525627e-02 1.31081317e+01] [-1.12797764e-02 9.99934696e-01 -1.83571038e-03 -2.55729165e-01] [-7.73684163e-02 9.57571226e-04 9.97002112e-01 -1.34882889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.907719421 meters 0.05501182142184361 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.26, Z:-1.35 [[ 9.96950887e-01 1.19434810e-02 7.71121391e-02 1.31401839e+01] [-1.18357844e-02 9.99928237e-01 -1.85350986e-03 -2.55077425e-01] [-7.71287426e-02 9.35175645e-04 9.97020703e-01 -1.35331365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.937719421 meters 0.05478553627221605 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.25, Z:-1.35 [[ 9.96972150e-01 1.16470074e-02 7.68822419e-02 1.31739414e+01] [-1.15381811e-02 9.99931704e-01 -1.85955448e-03 -2.53460968e-01] [-7.68986494e-02 9.66842791e-04 9.97038446e-01 -1.35324432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.967719421 meters 0.05501730366927894 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.26, Z:-1.36 [[ 9.97017431e-01 1.37156600e-02 7.59481574e-02 1.32053052e+01] [-1.36134775e-02 9.99905597e-01 -1.86299240e-03 -2.56911122e-01] [-7.59665399e-02 8.23517361e-04 9.97110027e-01 -1.36027801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.997719421 meters 0.05479101071536297 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.26, Z:-1.37 [[ 9.97068763e-01 1.62690688e-02 7.47609447e-02 1.32377676e+01] [-1.61755614e-02 9.99867444e-01 -1.85611910e-03 -2.58918085e-01] [-7.47812320e-02 6.41378121e-04 9.97199757e-01 -1.36620059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.027719421 meters 0.05444015235786803 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.26, Z:-1.37 [[ 9.97012092e-01 1.70225241e-02 7.53466735e-02 1.32697425e+01] [-1.69276479e-02 9.99854916e-01 -1.89769271e-03 -2.58536435e-01] [-7.53680454e-02 6.16580629e-04 9.97155593e-01 -1.36815317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.057719421 meters 0.0543530974987438 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.25, Z:-1.37 [[ 9.97049974e-01 2.07403672e-02 7.38998437e-02 1.33021814e+01] [-2.06577190e-02 9.99784834e-01 -1.88263373e-03 -2.54320148e-01] [-7.39229895e-02 3.50477705e-04 9.97263891e-01 -1.37012526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.087719421 meters 0.05459475369567593 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.25, Z:-1.38 [[ 9.97198231e-01 2.39627810e-02 7.08623567e-02 1.33336052e+01] [-2.38934804e-02 9.99712843e-01 -1.82556161e-03 -2.51778041e-01] [-7.08857536e-02 1.27298483e-04 9.97484433e-01 -1.37665369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.117719421 meters 0.055085764751726427 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.25, Z:-1.38 [[ 9.97173456e-01 2.89172459e-02 6.93461674e-02 1.33647130e+01] [-2.88615765e-02 9.99581789e-01 -1.80477837e-03 -2.47109021e-01] [-6.93693553e-02 -2.01762627e-04 9.97591024e-01 -1.38279154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.147719421 meters 0.056296939905521856 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.24, Z:-1.39 [[ 9.96869683e-01 3.95712297e-02 6.84467152e-02 1.33971259e+01] [-3.95403945e-02 9.99216341e-01 -1.80576695e-03 -2.36694250e-01] [-6.84645327e-02 -9.06295794e-04 9.97653139e-01 -1.38618488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.177719420999999 meters 0.05888071912360437 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.23, Z:-1.39 [[ 9.96246632e-01 5.08686365e-02 7.00359142e-02 1.34272374e+01] [-5.08638199e-02 9.98703879e-01 -1.85326710e-03 -2.25794959e-01] [-7.00394123e-02 -1.71598303e-03 9.97542749e-01 -1.38923860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.207719421 meters 0.05991129162679704 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.22, Z:-1.39 [[ 9.96074230e-01 5.47663550e-02 6.95469219e-02 1.34592144e+01] [-5.47705362e-02 9.98497257e-01 -1.84818442e-03 -2.22327042e-01] [-6.95436291e-02 -1.96819334e-03 9.97576969e-01 -1.39191455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.237719421 meters 0.06126375092006972 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.22, Z:-1.40 [[ 9.96096049e-01 5.94482627e-02 6.52576758e-02 1.34902271e+01] [-5.94614855e-02 9.98229082e-01 -1.74131154e-03 -2.18903987e-01] [-6.52456277e-02 -2.14580479e-03 9.97866927e-01 -1.39585736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.267719421 meters 0.06205791078282287 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.22, Z:-1.40 [[ 9.96087390e-01 6.03435759e-02 6.45644215e-02 1.35209067e+01] [-6.03588884e-02 9.98175267e-01 -1.71514536e-03 -2.18885007e-01] [-6.45501066e-02 -2.18860205e-03 9.97912067e-01 -1.40010280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.297719421 meters 0.06094164983288749 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.23, Z:-1.40 [[ 9.95627480e-01 5.97891327e-02 7.17717204e-02 1.35520259e+01] [-5.98043688e-02 9.98208235e-01 -1.93852888e-03 -2.25947282e-01] [-7.17590252e-02 -2.36220982e-03 9.97419201e-01 -1.39773026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.327719421 meters 0.05978385268119426 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.23, Z:-1.40 [[ 9.95531663e-01 5.78439785e-02 7.46376724e-02 1.35834988e+01] [-5.78549409e-02 9.98322962e-01 -2.01703126e-03 -2.33120665e-01] [-7.46291753e-02 -2.31013964e-03 9.97208679e-01 -1.39855228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.357719421 meters 0.05878278370840477 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.24, Z:-1.40 [[ 9.95551320e-01 5.50244646e-02 7.64844958e-02 1.36150827e+01] [-5.50275215e-02 9.98482694e-01 -2.06909913e-03 -2.42091659e-01] [-7.64822965e-02 -2.14885787e-03 9.97068624e-01 -1.40136061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.387719421 meters 0.05677432880352385 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.26, Z:-1.41 [[ 9.95999828e-01 4.77204725e-02 7.55453466e-02 1.36457073e+01] [-4.77018472e-02 9.98859511e-01 -2.05196224e-03 -2.59698105e-01] [-7.55571085e-02 -1.55989855e-03 9.97140256e-01 -1.40758545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.417719421 meters 0.05585836822334347 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.27, Z:-1.41 [[ 9.96563190e-01 4.12771667e-02 7.18192382e-02 1.36772753e+01] [-4.12440084e-02 9.99147210e-01 -1.94523515e-03 -2.67764782e-01] [-7.18382853e-02 -1.02356351e-03 9.97415767e-01 -1.41175278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.447719421 meters 0.05559623616110915 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.27, Z:-1.41 [[ 9.96790379e-01 3.86733264e-02 7.00950420e-02 1.37094050e+01] [-3.86337474e-02 9.99251592e-01 -1.92075311e-03 -2.70961308e-01] [-7.01168642e-02 -7.93445919e-04 9.97538468e-01 -1.41453470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.477719421 meters 0.05552808948339584 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.28, Z:-1.42 [[ 9.97052806e-01 3.42206891e-02 6.86632831e-02 1.37411443e+01] [-3.41706014e-02 9.99414200e-01 -1.90419956e-03 -2.80571111e-01] [-6.86882232e-02 -4.47678165e-04 9.97638074e-01 -1.41968202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.507719421 meters 0.05533865042581037 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.29, Z:-1.42 [[ 9.97152471e-01 3.21678781e-02 6.82068729e-02 1.37736294e+01] [-3.21130007e-02 9.99482436e-01 -1.90114525e-03 -2.89451665e-01] [-6.82327273e-02 -2.94595678e-04 9.97669388e-01 -1.42452120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.537719421 meters 0.05501346670204389 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.30, Z:-1.43 [[ 9.97252257e-01 2.97587414e-02 6.78406422e-02 1.38065370e+01] [-2.96973067e-02 9.99557105e-01 -1.91412139e-03 -2.98645462e-01] [-6.78675578e-02 -1.05822481e-04 9.97694334e-01 -1.42870811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.567719421 meters 0.05520179919544747 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.31, Z:-1.44 [[ 9.97405287e-01 2.25107255e-02 6.83809982e-02 1.38381555e+01] [-2.24295640e-02 9.99746515e-01 -1.95454384e-03 -3.11587617e-01] [-6.84076628e-02 4.15716384e-04 9.97657365e-01 -1.43547648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.597719421 meters 0.05557359334729272 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.31, Z:-1.43 [[ 9.97516144e-01 1.62966081e-02 6.85270954e-02 1.38704962e+01] [-1.61988536e-02 9.99866826e-01 -1.98198612e-03 -3.13921796e-01] [-6.85502690e-02 8.67002769e-04 9.97647287e-01 -1.43397332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.627719421 meters 0.05609901656829443 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.32, Z:-1.44 [[ 9.97458672e-01 1.40351750e-02 6.98513519e-02 1.39020707e+01] [-1.39266166e-02 9.99900937e-01 -2.04090765e-03 -3.15184308e-01] [-6.98730767e-02 1.06292804e-03 9.97555323e-01 -1.43695811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.657719421 meters 0.056635324908522404 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.32, Z:-1.44 [[ 9.97402795e-01 1.00844052e-02 7.13159790e-02 1.39346929e+01] [-9.95947272e-03 9.99948183e-01 -2.10719641e-03 -3.17782933e-01] [-7.13335334e-02 1.39145404e-03 9.97451548e-01 -1.43681873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.687719421 meters 0.05694390677507552 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.32, Z:-1.44 [[ 9.97459648e-01 9.08141629e-03 7.06525219e-02 1.39665684e+01] [-8.95482433e-03 9.99957682e-01 -2.10829089e-03 -3.20342521e-01] [-7.06686784e-02 1.47025416e-03 9.97498760e-01 -1.44110020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.717719421 meters 0.05740447350455142 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.32, Z:-1.45 [[ 9.97547754e-01 7.69507135e-03 6.95648152e-02 1.39977154e+01] [-7.56752860e-03 9.99969168e-01 -2.09679176e-03 -3.21527321e-01] [-6.95788053e-02 1.56521619e-03 9.97575230e-01 -1.44644060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.747719421 meters 0.057769710418430896 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.32, Z:-1.45 [[ 9.97526817e-01 7.77415989e-03 6.98556431e-02 1.40298839e+01] [-7.64447776e-03 9.99968526e-01 -2.12357400e-03 -3.21637826e-01] [-6.98699534e-02 1.58431210e-03 9.97554850e-01 -1.45046521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.777719421 meters 0.057680662692931886 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.32, Z:-1.45 [[ 9.97329125e-01 6.05311779e-03 7.27872020e-02 1.40623684e+01] [-5.90590892e-03 9.99980057e-01 -2.23751013e-03 -3.16987133e-01] [-7.27992943e-02 1.80165943e-03 9.97344984e-01 -1.44868887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.807719421 meters 0.05838329014563941 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.32, Z:-1.45 [[ 9.97192342e-01 1.98451292e-03 7.48564988e-02 1.40947111e+01] [-1.81568085e-03 9.99995653e-01 -2.32339556e-03 -3.16433497e-01] [-7.48607842e-02 2.18095675e-03 9.97191610e-01 -1.44921338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.837719421 meters 0.05936347993263005 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.32, Z:-1.45 [[ 9.97192070e-01 -4.53627788e-04 7.48850453e-02 1.41262056e+01] [ 6.31124061e-04 9.99997048e-01 -2.34660284e-03 -3.21629660e-01] [-7.48837597e-02 2.38727550e-03 9.97189412e-01 -1.45381840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.867719421 meters 0.061012157286064725 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.33, Z:-1.46 [[ 9.97207100e-01 -4.59100512e-03 7.45447719e-02 1.41568627e+01] [ 4.78057223e-03 9.99985777e-01 -2.36476340e-03 -3.29265878e-01] [-7.45328550e-02 2.71452552e-03 9.97214864e-01 -1.45963594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.897719421 meters 0.06525389610766655 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.34, Z:-1.46 [[ 9.97103494e-01 -1.49341673e-02 7.45760856e-02 1.41869092e+01] [ 1.51530241e-02 9.99882378e-01 -2.36969470e-03 -3.40679280e-01] [-7.45319244e-02 3.49288409e-03 9.97212511e-01 -1.46423330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.927719420999999 meters 0.06775356003143866 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.34, Z:-1.47 [[ 9.97043450e-01 -1.98933453e-02 7.42200343e-02 1.42171782e+01] [ 2.01238447e-02 9.99794712e-01 -2.35901467e-03 -3.43862604e-01] [-7.41578691e-02 3.84563257e-03 9.97239099e-01 -1.46731231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.957719421 meters 0.06894083894297567 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.34, Z:-1.47 [[ 9.97090890e-01 -2.61305102e-02 7.16027434e-02 1.42486721e+01] [ 2.63610744e-02 9.99649894e-01 -2.27680281e-03 -3.40028332e-01] [-7.15181808e-02 4.15770459e-03 9.97430631e-01 -1.46863825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.987719421 meters 0.07291100870585328 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.34, Z:-1.47 [[ 9.97018177e-01 -2.95081482e-02 7.13023450e-02 1.42781394e+01] [ 2.97456021e-02 9.99554923e-01 -2.27048791e-03 -3.43005402e-01] [-7.12036120e-02 4.38464890e-03 9.97452165e-01 -1.47307815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.017719421 meters 0.07419626847588286 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.34, Z:-1.48 [[ 9.96980241e-01 -2.91066422e-02 7.19944680e-02 1.43093095e+01] [ 2.93471337e-02 9.99566669e-01 -2.28466077e-03 -3.44433150e-01] [-7.18967718e-02 4.39059292e-03 9.97402415e-01 -1.47633829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.047719421 meters 0.07019186618544598 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.33, Z:-1.48 [[ 9.96828292e-01 -2.22008441e-02 7.64230214e-02 1.43401305e+01] [ 2.24538959e-02 9.99744869e-01 -2.45343269e-03 -3.33379297e-01] [-7.63490552e-02 4.16164569e-03 9.97072466e-01 -1.47673145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.077719421 meters 0.06478581938284514 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.32, Z:-1.48 [[ 9.96899569e-01 -1.65394064e-02 7.69265651e-02 1.43714209e+01] [ 1.67789859e-02 9.99856174e-01 -2.46905891e-03 -3.18584545e-01] [-7.68746643e-02 3.75215352e-03 9.97033704e-01 -1.47759939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.107719421 meters 0.061559010982649695 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.30, Z:-1.48 [[ 9.97038669e-01 -1.90338876e-03 7.68782723e-02 1.44016166e+01] [ 2.09942048e-03 9.99994748e-01 -2.46915861e-03 -2.95390564e-01] [-7.68731688e-02 2.62324643e-03 9.97037429e-01 -1.48488607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.137719421 meters 0.05733660234094232 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.28, Z:-1.48 [[ 9.97086577e-01 6.44772782e-03 7.60051576e-02 1.44332141e+01] [-6.28048021e-03 9.99977302e-01 -2.43929438e-03 -2.75732962e-01] [-7.60191603e-02 1.95483879e-03 9.97104441e-01 -1.48430073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.167719421 meters 0.05516084674630986 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.25, Z:-1.49 [[ 9.97131093e-01 1.91561185e-02 7.32299591e-02 1.44649058e+01] [-1.90349972e-02 9.99816053e-01 -2.35159483e-03 -2.54120876e-01] [-7.32615361e-02 9.50916254e-04 9.97312310e-01 -1.49103618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.197719421 meters 0.05525675994790107 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.25, Z:-1.50 [[ 9.97195115e-01 2.24877130e-02 7.13877058e-02 1.44958430e+01] [-2.23814414e-02 9.99746885e-01 -2.28830695e-03 -2.50190731e-01] [-7.14210953e-02 6.84128753e-04 9.97446018e-01 -1.49863274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.227719421 meters 0.055498777079402394 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.25, Z:-1.51 [[ 9.97366820e-01 2.40419913e-02 6.84208217e-02 1.45267379e+01] [-2.39468452e-02 9.99710789e-01 -2.21057297e-03 -2.46764955e-01] [-6.84541802e-02 5.66289306e-04 9.97654101e-01 -1.50741517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.257719421 meters 0.055379610426887105 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.25, Z:-1.51 [[ 9.97298553e-01 2.36276659e-02 6.95509090e-02 1.45593856e+01] [-2.35266503e-02 9.99720630e-01 -2.27129605e-03 -2.46394843e-01] [-6.95851440e-02 6.28860344e-04 9.97575818e-01 -1.50951132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.287719421 meters 0.054751212301553394 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.24, Z:-1.51 [[ 9.97086683e-01 2.35712036e-02 7.25433983e-02 1.45928640e+01] [-2.34605690e-02 9.99721937e-01 -2.37689936e-03 -2.40130823e-01] [-7.25792530e-02 6.68065296e-04 9.97362424e-01 -1.50651682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.317719421 meters 0.05452300411347035 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.24, Z:-1.50 [[ 9.96954707e-01 2.31322580e-02 7.44728861e-02 1.46261569e+01] [-2.30138561e-02 9.99732150e-01 -2.44773437e-03 -2.37478037e-01] [-7.45095602e-02 7.26372016e-04 9.97220035e-01 -1.50334162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.347719421 meters 0.05467196053328999 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.24, Z:-1.51 [[ 9.96879988e-01 2.29021976e-02 7.55366030e-02 1.46584896e+01] [-2.27794901e-02 9.99737423e-01 -2.48576471e-03 -2.36471116e-01] [-7.55736983e-02 7.57323790e-04 9.97139931e-01 -1.50602635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.377719421 meters 0.05467196053328999 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.24, Z:-1.51 [[ 9.96872396e-01 2.32325762e-02 7.55359081e-02 1.46909171e+01] [-2.31092314e-02 9.99729804e-01 -2.50667482e-03 -2.37782202e-01] [-7.55737351e-02 7.53258160e-04 9.97139932e-01 -1.50935878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.407719421 meters 0.055180773828317715 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.24, Z:-1.52 [[ 9.96935470e-01 2.27116780e-02 7.48588540e-02 1.47213632e+01] [-2.25868732e-02 9.99741724e-01 -2.51349094e-03 -2.41850033e-01] [-7.48966054e-02 8.14960825e-04 9.97190972e-01 -1.51785231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.437719421 meters 0.055100605027010245 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.24, Z:-1.52 [[ 9.96829239e-01 2.11992414e-02 7.66945967e-02 1.47537576e+01] [-2.10630558e-02 9.99774809e-01 -2.58424560e-03 -2.44369957e-01] [-7.67321099e-02 9.60628999e-04 9.97051283e-01 -1.52148403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.467719420999998 meters 0.05519092137743084 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.25, Z:-1.52 [[ 9.96773737e-01 2.02106291e-02 7.76765581e-02 1.47853460e+01] [-2.00662039e-02 9.99795169e-01 -2.63946175e-03 -2.46709593e-01] [-7.77139927e-02 1.07227251e-03 9.96975118e-01 -1.52467683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.497719421 meters 0.0555615988590954 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.25, Z:-1.53 [[ 9.96734929e-01 1.81961772e-02 7.86662612e-02 1.48182638e+01] [-1.80399018e-02 9.99833631e-01 -2.69683212e-03 -2.49727480e-01] [-7.87022456e-02 1.26889514e-03 9.96897360e-01 -1.52784587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.527719421 meters 0.05657831071605947 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.26, Z:-1.53 [[ 9.97017537e-01 1.27750007e-02 7.61106446e-02 1.48486884e+01] [-1.26105848e-02 9.99916997e-01 -2.64044688e-03 -2.55943048e-01] [-7.61380589e-02 1.67277211e-03 9.97095882e-01 -1.53198397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.557719421 meters 0.058084878038856716 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.26, Z:-1.54 [[ 9.97179320e-01 1.02724209e-02 7.43497154e-02 1.48795678e+01] [-1.01090106e-02 9.99945590e-01 -2.57385909e-03 -2.62118202e-01] [-7.43721098e-02 1.81499700e-03 9.97228908e-01 -1.53856015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.587719421 meters 0.0589084496967414 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.26, Z:-1.54 [[ 9.97340229e-01 5.68405971e-03 7.26647035e-02 1.49110270e+01] [-5.51394616e-03 9.99981569e-01 -2.54146262e-03 -2.64671117e-01] [-7.26778100e-02 2.13403365e-03 9.97353188e-01 -1.53982205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.617719421 meters 0.05943349866303297 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.27, Z:-1.54 [[ 9.97147154e-01 1.35422084e-03 7.54699943e-02 1.49427594e+01] [-1.15854037e-03 9.99995853e-01 -2.63654442e-03 -2.70934028e-01] [-7.54732518e-02 2.54158773e-03 9.97144588e-01 -1.54028906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.647719421 meters 0.06162973353637308 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.28, Z:-1.54 [[ 9.96940946e-01 -1.28867772e-03 7.81478742e-02 1.49731411e+01] [ 1.50841315e-03 9.99995073e-01 -2.75282547e-03 -2.79347542e-01] [-7.81439417e-02 2.86228370e-03 9.96937978e-01 -1.54352235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.677719421 meters 0.06354777191570062 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.28, Z:-1.54 [[ 9.96821943e-01 -6.14901583e-03 7.94242028e-02 1.50042423e+01] [ 6.39358599e-03 9.99975569e-01 -2.82535039e-03 -2.84782461e-01] [-7.94048893e-02 3.32417673e-03 9.96836904e-01 -1.54411808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.707719421 meters 0.06311349607907285 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.28, Z:-1.55 [[ 9.97045048e-01 -8.04608951e-03 7.63965538e-02 1.50350757e+01] [ 8.27812265e-03 9.99962034e-01 -2.72102797e-03 -2.83653336e-01] [-7.63717597e-02 3.34540751e-03 9.97073800e-01 -1.54789839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.737719421 meters 0.06269840697392516 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.28, Z:-1.56 [[ 9.97268732e-01 -5.58103238e-03 7.36473302e-02 1.50666669e+01] [ 5.78945615e-03 9.99979817e-01 -2.61684766e-03 -2.81764025e-01] [-7.36312390e-02 3.03607834e-03 9.97280915e-01 -1.55533769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.767719421 meters 0.06125921714180359 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.28, Z:-1.56 [[ 9.97219107e-01 -1.24403353e-03 7.45151386e-02 1.50965070e+01] [ 1.44757974e-03 9.99995367e-01 -2.67766277e-03 -2.78404716e-01] [-7.45114623e-02 2.77808308e-03 9.97216288e-01 -1.55819729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.797719421 meters 0.05671609099669929 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.26, Z:-1.56 [[ 9.97039137e-01 1.37666124e-02 7.56534127e-02 1.51273203e+01] [-1.35998830e-02 9.99903822e-01 -2.71861801e-03 -2.63273548e-01] [-7.56835626e-02 1.68169100e-03 9.97130468e-01 -1.55983813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.827719421 meters 0.05504810547490634 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.25, Z:-1.56 [[ 9.96822120e-01 2.28988097e-02 7.62974777e-02 1.51581388e+01] [-2.27560183e-02 9.99737292e-01 -2.74047829e-03 -2.53953962e-01] [-7.63401875e-02 9.95542576e-04 9.97081333e-01 -1.56198865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.857719421 meters 0.05377138430427583 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.23, Z:-1.56 [[ 9.95879403e-01 4.08962794e-02 8.09426296e-02 1.51917310e+01] [-4.07945733e-02 9.99163316e-01 -2.91053998e-03 -2.28224317e-01] [-8.09939364e-02 -4.03473218e-04 9.96714513e-01 -1.55725459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.887719421 meters 0.054495485510485164 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.22, Z:-1.56 [[ 9.95382699e-01 4.73791603e-02 8.34775310e-02 1.52238857e+01] [-4.72935107e-02 9.98876518e-01 -3.00426100e-03 -2.20056738e-01] [-8.35260848e-02 -9.57556079e-04 9.96505131e-01 -1.55844876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.917719421 meters 0.05531373978699214 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.22, Z:-1.56 [[ 9.95347697e-01 5.29593037e-02 8.04877300e-02 1.52555147e+01] [-5.28964018e-02 9.98595751e-01 -2.91502716e-03 -2.18329739e-01] [-8.05290830e-02 -1.35604574e-03 9.96751337e-01 -1.56428120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.947719421 meters 0.05546957830854604 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.22, Z:-1.57 [[ 9.95443377e-01 5.26546538e-02 7.94982366e-02 1.52860908e+01] [-5.25919126e-02 9.98611922e-01 -2.88426482e-03 -2.18948034e-01] [-7.95397569e-02 -1.30984200e-03 9.96830834e-01 -1.57101347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.977719421 meters 0.054997937036211836 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.22, Z:-1.57 [[ 9.95637790e-01 4.98920034e-02 7.88427461e-02 1.53186094e+01] [-4.98208595e-02 9.98754045e-01 -2.87039417e-03 -2.16197434e-01] [-7.88877213e-02 -1.07014046e-03 9.96882933e-01 -1.57305360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.007719421 meters 0.0549920760785936 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.21, Z:-1.58 [[ 9.95745051e-01 4.94266359e-02 7.77740439e-02 1.53518694e+01] [-4.93542735e-02 9.98777259e-01 -2.85347558e-03 -2.13505394e-01] [-7.78199841e-02 -9.97147248e-04 9.96966928e-01 -1.57573512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.037719421 meters 0.05614024388704714 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.21, Z:-1.58 [[ 9.95682135e-01 5.39192011e-02 7.55632543e-02 1.53826265e+01] [-5.38614974e-02 9.98544482e-01 -2.80281690e-03 -2.06236407e-01] [-7.56043963e-02 -1.27923531e-03 9.97137071e-01 -1.58139580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.067719421 meters 0.05672922835364732 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.21, Z:-1.59 [[ 9.95709720e-01 5.62669546e-02 7.34587140e-02 1.54144287e+01] [-5.62178760e-02 9.98414773e-01 -2.73722517e-03 -2.05272847e-01] [-7.34962806e-02 -1.40421116e-03 9.97294503e-01 -1.58711621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.097719421 meters 0.057170415387159404 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.20, Z:-1.59 [[ 9.95193975e-01 6.01711378e-02 7.72553270e-02 1.54465840e+01] [-6.01284650e-02 9.98186491e-01 -2.88045807e-03 -2.02250708e-01] [-7.72885442e-02 -1.77862971e-03 9.97007180e-01 -1.58942400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.127719421 meters 0.05717054518855218 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.20, Z:-1.59 [[ 9.94853477e-01 6.13690672e-02 8.06250335e-02 1.54786082e+01] [-6.13240686e-02 9.98113289e-01 -3.03650891e-03 -2.01202586e-01] [-8.06592651e-02 -1.92337364e-03 9.96739878e-01 -1.58969083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.157719421 meters 0.057672374388964345 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.20, Z:-1.59 [[ 9.94761705e-01 6.27213779e-02 8.07166621e-02 1.55107599e+01] [-6.26807008e-02 9.98029001e-01 -3.04018218e-03 -2.01948052e-01] [-8.07482541e-02 -2.03512014e-03 9.96732450e-01 -1.59481202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.187719421 meters 0.058261884069356284 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.21, Z:-1.61 [[ 9.95414567e-01 6.11975342e-02 7.35166807e-02 1.55411596e+01] [-6.11581775e-02 9.98124192e-01 -2.78846321e-03 -2.06748328e-01] [-7.35494246e-02 -1.72046932e-03 9.97290089e-01 -1.60580639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.217719420999998 meters 0.058315615926290205 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.21, Z:-1.61 [[ 9.95620507e-01 6.06814131e-02 7.11166164e-02 1.55721262e+01] [-6.06419499e-02 9.98155889e-01 -2.71583487e-03 -2.08636291e-01] [-7.11502701e-02 -1.60870939e-03 9.97464311e-01 -1.61006405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.247719421 meters 0.057576021109060974 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.21, Z:-1.61 [[ 9.95556097e-01 5.85443174e-02 7.37605653e-02 1.56023794e+01] [-5.84939777e-02 9.98283709e-01 -2.84436893e-03 -2.11569561e-01] [-7.38004924e-02 -1.48282003e-03 9.97271923e-01 -1.61005005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.277719421 meters 0.05682659800489473 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.22, Z:-1.61 [[ 9.95447573e-01 5.72281618e-02 7.62172307e-02 1.56343142e+01] [-5.71705228e-02 9.98360100e-01 -2.93969171e-03 -2.15166729e-01] [-7.62604753e-02 -1.43106995e-03 9.97086903e-01 -1.61078190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.307719421 meters 0.0555225782592149 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.22, Z:-1.61 [[ 9.95143589e-01 5.39665950e-02 8.23215849e-02 1.56641491e+01] [-5.38876766e-02 9.98541934e-01 -3.18181677e-03 -2.22078242e-01] [-8.23732665e-02 -1.26975439e-03 9.96600739e-01 -1.61057629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.337719421 meters 0.0546896601338089 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.23, Z:-1.61 [[ 9.95127533e-01 5.13305187e-02 8.41805824e-02 1.56964511e+01] [-5.12390087e-02 9.98681135e-01 -3.24863951e-03 -2.28052668e-01] [-8.42363140e-02 -1.08051897e-03 9.96445220e-01 -1.61293131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.367719421 meters 0.05397906816072175 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.24, Z:-1.62 [[ 9.95296680e-01 4.68071897e-02 8.48151273e-02 1.57284183e+01] [-4.66958733e-02 9.98903712e-01 -3.29691007e-03 -2.35201859e-01] [-8.48764646e-02 -6.79112798e-04 9.96391251e-01 -1.61704068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.397719421 meters 0.05389491415753878 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.25, Z:-1.62 [[ 9.96077492e-01 3.68741371e-02 8.04358589e-02 1.57585024e+01] [-3.67399694e-02 9.99319901e-01 -3.14788065e-03 -2.47570350e-01] [-8.04972300e-02 1.80322067e-04 9.96754816e-01 -1.62456844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.427719421 meters 0.05470634463277715 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.25, Z:-1.63 [[ 9.96556975e-01 3.06454304e-02 7.70392992e-02 1.57896142e+01] [-3.05021362e-02 9.99530090e-01 -3.03628498e-03 -2.54938615e-01] [-7.70961459e-02 6.75967777e-04 9.97023434e-01 -1.62935490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.457719421 meters 0.0550862220768146 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.26, Z:-1.64 [[ 9.96732627e-01 3.06498591e-02 7.47305572e-02 1.58205722e+01] [-3.05145889e-02 9.99529964e-01 -2.95148625e-03 -2.59430982e-01] [-7.47858938e-02 6.61470414e-04 9.97199395e-01 -1.63627393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.487719421 meters 0.05492840586901449 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.26, Z:-1.64 [[ 9.96737733e-01 3.66166048e-02 7.19243810e-02 1.58525494e+01] [-3.65055845e-02 9.99329362e-01 -2.85792895e-03 -2.62248152e-01] [-7.19807934e-02 2.22964055e-04 9.97405993e-01 -1.64371248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.517719421 meters 0.05479877538789459 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.26, Z:-1.65 [[ 9.96433205e-01 4.22187696e-02 7.30646492e-02 1.58837005e+01] [-4.21176627e-02 9.99108377e-01 -2.92465237e-03 -2.58150025e-01] [-7.31229783e-02 -1.63091514e-04 9.97322918e-01 -1.64540555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.547719421 meters 0.055239094169546823 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.24, Z:-1.64 [[ 9.95163291e-01 5.58516863e-02 8.08122153e-02 1.59175561e+01] [-5.57709286e-02 9.98438275e-01 -3.25793011e-03 -2.42321565e-01] [-8.08679697e-02 -1.26479984e-03 9.96724020e-01 -1.63638497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.577719421 meters 0.05581406347096582 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.24, Z:-1.63 [[ 9.94595922e-01 6.20121455e-02 8.32673094e-02 1.59505155e+01] [-6.19459796e-02 9.98073779e-01 -3.38041050e-03 -2.39176173e-01] [-8.33165447e-02 -1.79593255e-03 9.96521514e-01 -1.63399464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.607719421 meters 0.05875649597592839 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.23, Z:-1.64 [[ 9.93906025e-01 7.12327982e-02 8.41231360e-02 1.59805933e+01] [-7.11957755e-02 9.97456416e-01 -3.44377772e-03 -2.33844756e-01] [-8.41544717e-02 -2.56642048e-03 9.96449416e-01 -1.63824724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.637719421 meters 0.060095749686130094 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.23, Z:-1.64 [[ 9.93879446e-01 7.42126112e-02 8.18299213e-02 1.60116301e+01] [-7.41870252e-02 9.97238694e-01 -3.35730604e-03 -2.34513964e-01] [-8.18531183e-02 -2.73396096e-03 9.96640654e-01 -1.64482318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.667719421 meters 0.062466612953051254 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.24, Z:-1.66 [[ 9.94182924e-01 7.70224252e-02 7.52851875e-02 1.60402054e+01] [-7.70086246e-02 9.97025637e-01 -3.09055401e-03 -2.37580255e-01] [-7.52993040e-02 -2.72503272e-03 9.97157254e-01 -1.65845316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.697719421 meters 0.06265334406118711 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.24, Z:-1.67 [[ 9.94492955e-01 7.61717440e-02 7.19835218e-02 1.60688540e+01] [-7.61562434e-02 9.97091491e-01 -2.96387617e-03 -2.42670589e-01] [-7.19999207e-02 -2.53444063e-03 9.97401418e-01 -1.66570286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.727719421 meters 0.061070894918964426 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.25, Z:-1.67 [[ 9.94993329e-01 7.09333268e-02 7.04041019e-02 1.60966588e+01] [-7.09055535e-02 9.97478828e-01 -2.89669193e-03 -2.52584783e-01] [-7.04320730e-02 -2.10985267e-03 9.97514347e-01 -1.66900419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.757719421 meters 0.0583534358512491 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.26, Z:-1.67 [[ 9.95219410e-01 6.61084186e-02 7.18888242e-02 1.61278050e+01] [-6.60674059e-02 9.97810799e-01 -2.95079683e-03 -2.63435698e-01] [-7.19265177e-02 -1.81281785e-03 9.97408286e-01 -1.66675657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.787719421 meters 0.055471203316841 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.28, Z:-1.67 [[ 9.95592026e-01 5.46517875e-02 7.62213829e-02 1.61561546e+01] [-5.45719486e-02 9.98504931e-01 -3.13143598e-03 -2.83593817e-01] [-7.62785652e-02 -1.04191670e-03 9.97086002e-01 -1.66748880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.817719421 meters 0.054084185480863606 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.30, Z:-1.67 [[ 9.95744753e-01 4.86610996e-02 7.82590904e-02 1.61872863e+01] [-4.85586951e-02 9.98815166e-01 -3.21213111e-03 -2.96168673e-01] [-7.83226722e-02 -6.01696618e-04 9.96927880e-01 -1.66795506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.847719421 meters 0.052722197765867604 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.31, Z:-1.66 [[ 9.95882153e-01 3.88257258e-02 8.19225254e-02 1.62187905e+01] [-3.86799876e-02 9.99245980e-01 -3.36587725e-03 -3.11435117e-01] [-8.19914368e-02 1.83254818e-04 9.96633017e-01 -1.66400044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.877719421 meters 0.052850021710383936 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.32, Z:-1.67 [[ 9.96013706e-01 3.52176253e-02 8.19537419e-02 1.62509342e+01] [-3.50597250e-02 9.99379552e-01 -3.36541020e-03 -3.17012781e-01] [-8.20214156e-02 4.78719033e-04 9.96630452e-01 -1.66638108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.907719421 meters 0.05348234986480832 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.33, Z:-1.67 [[ 9.96094765e-01 3.17121126e-02 8.23987894e-02 1.62815390e+01] [-3.15384645e-02 9.99496727e-01 -3.40846390e-03 -3.26230056e-01] [-8.24654099e-02 7.96421750e-04 9.96593609e-01 -1.67421031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.937719421 meters 0.05332600397083523 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.33, Z:-1.68 [[ 9.96074978e-01 3.17674407e-02 8.26163885e-02 1.63143906e+01] [-3.15912928e-02 9.99494955e-01 -3.43878979e-03 -3.27975855e-01] [-8.26839051e-02 8.15333943e-04 9.96575490e-01 -1.67803731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.967719420999998 meters 0.053203131361140375 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.33, Z:-1.68 [[ 9.96158107e-01 3.35271744e-02 8.09008940e-02 1.63461261e+01] [-3.33619264e-02 9.99437574e-01 -3.39383705e-03 -3.25077624e-01] [-8.09691790e-02 6.81788619e-04 9.96716373e-01 -1.68309291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.997719421 meters 0.053022636118158745 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.32, Z:-1.69 [[ 9.96258444e-01 3.47186550e-02 7.91437104e-02 1.63787735e+01] [-3.45625790e-02 9.99396950e-01 -3.34147457e-03 -3.24968787e-01] [-7.92119942e-02 5.93561517e-04 9.96857617e-01 -1.68552405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.027719421 meters 0.05306615982509262 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.33, Z:-1.69 [[ 9.96310859e-01 3.76374477e-02 7.71238967e-02 1.64096891e+01] [-3.74962411e-02 9.99291390e-01 -3.27868849e-03 -3.27599336e-01] [-7.71926474e-02 3.74736721e-04 9.97016126e-01 -1.69218399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.057719420999998 meters 0.05264622495156877 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.33, Z:-1.69 [[ 9.96189238e-01 4.08431533e-02 7.70638620e-02 1.64422287e+01] [-4.07102065e-02 9.99165560e-01 -3.29599957e-03 -3.27451462e-01] [-7.71341758e-02 1.46153566e-04 9.97020711e-01 -1.69396875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.087719421 meters 0.052290123837608365 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.33, Z:-1.69 [[ 9.96040288e-01 4.27781607e-02 7.79344159e-02 1.64753717e+01] [-4.26458140e-02 9.99084595e-01 -3.36247498e-03 -3.26222593e-01] [-7.80069149e-02 2.55839471e-05 9.96952818e-01 -1.69212436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.117719421 meters 0.05250266514393171 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.32, Z:-1.69 [[ 9.96017890e-01 4.46847889e-02 7.71468230e-02 1.65076577e+01] [-4.45605567e-02 9.99001129e-01 -3.33186545e-03 -3.24490732e-01] [-7.72186470e-02 -1.19107790e-04 9.97014176e-01 -1.69474272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.147719421 meters 0.05329391470246528 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.32, Z:-1.70 [[ 9.95934899e-01 4.97787394e-02 7.50716554e-02 1.65380827e+01] [-4.96735841e-02 9.98760158e-01 -3.26841859e-03 -3.19425960e-01] [-7.51412761e-02 -4.73946047e-04 9.97172785e-01 -1.70069504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.177719421 meters 0.053734051547845274 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.32, Z:-1.70 [[ 9.95482984e-01 5.74220328e-02 7.56064765e-02 1.65707060e+01] [-5.73367976e-02 9.98349441e-01 -3.29929348e-03 -3.17343796e-01] [-7.56711357e-02 -1.05064272e-03 9.97132276e-01 -1.70310922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.207719421 meters 0.05405519525119755 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.32, Z:-1.71 [[ 9.95103132e-01 6.03997264e-02 7.82408498e-02 1.66030262e+01] [-6.03157267e-02 9.98173427e-01 -3.43852839e-03 -3.19540102e-01] [-7.83056233e-02 -1.29746334e-03 9.96928556e-01 -1.70681686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.237719421 meters 0.0538686705249589 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.32, Z:-1.71 [[ 9.94836302e-01 6.23175393e-02 8.01077816e-02 1.66351755e+01] [-6.22337119e-02 9.98055308e-01 -3.54516114e-03 -3.22124886e-01] [-8.01729224e-02 -1.45854961e-03 9.96779903e-01 -1.70827991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.267719421 meters 0.05400431860515139 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.32, Z:-1.71 [[ 9.94673042e-01 6.31017631e-02 8.15089330e-02 1.66662322e+01] [-6.30155396e-02 9.98005935e-01 -3.63243121e-03 -3.21784431e-01] [-8.15756118e-02 -1.52324799e-03 9.96665992e-01 -1.71042332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.297719421 meters 0.05400431860515139 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.32, Z:-1.71 [[ 9.94651861e-01 6.34359696e-02 8.15079935e-02 1.66986423e+01] [-6.33491500e-02 9.97984738e-01 -3.65337867e-03 -3.23485556e-01] [-8.15754892e-02 -1.52962221e-03 9.96665992e-01 -1.71375631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.327719421 meters 0.05401427913495866 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.32, Z:-1.72 [[ 9.94728220e-01 6.35017117e-02 8.05189463e-02 1.67309138e+01] [-6.34149711e-02 9.97980619e-01 -3.63661354e-03 -3.24968022e-01] [-8.05872791e-02 -1.48866454e-03 9.96746444e-01 -1.71671829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.357719421 meters 0.05489096937599366 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.33, Z:-1.73 [[ 9.95064062e-01 6.38403931e-02 7.59731264e-02 1.67609199e+01] [-6.37622758e-02 9.97959132e-01 -3.45588153e-03 -3.28971951e-01] [-7.60387001e-02 -1.40539592e-03 9.97103877e-01 -1.72527763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.387719421 meters 0.055648014636186155 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.34, Z:-1.73 [[ 9.95257100e-01 6.48942896e-02 7.24709304e-02 1.67909775e+01] [-6.48252732e-02 9.97891152e-01 -3.30648536e-03 -3.35099954e-01] [-7.25326722e-02 -1.40714483e-03 9.97365044e-01 -1.73287409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.417719421 meters 0.05583949290786379 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.34, Z:-1.74 [[ 9.95246258e-01 6.58464713e-02 7.17574324e-02 1.68232535e+01] [-6.57808530e-02 9.97828704e-01 -3.27981856e-03 -3.38443269e-01] [-7.18175902e-02 -1.45603796e-03 9.97416720e-01 -1.73611963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.447719421 meters 0.05463700159492941 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.35, Z:-1.74 [[ 9.95286290e-01 6.25618478e-02 7.41027394e-02 1.68533437e+01] [-6.24805880e-02 9.98040332e-01 -3.41653656e-03 -3.46425187e-01] [-7.41712674e-02 -1.22955073e-03 9.97244760e-01 -1.73535301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.477719421 meters 0.05327070761436165 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.35, Z:-1.73 [[ 9.95255136e-01 5.85805595e-02 7.76886928e-02 1.68852165e+01] [-5.84790788e-02 9.98282206e-01 -3.58258893e-03 -3.54671526e-01] [-7.77651097e-02 -9.77573155e-04 9.96971229e-01 -1.73398969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.507719421 meters 0.05208270864885843 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.37, Z:-1.73 [[ 9.95359829e-01 5.34514630e-02 8.00109539e-02 1.69166129e+01] [-5.33268728e-02 9.98570275e-01 -3.69468401e-03 -3.65703999e-01] [-8.00940465e-02 -5.89193918e-04 9.96787137e-01 -1.73440178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.537719421 meters 0.051686484724825975 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.39, Z:-1.74 [[ 9.95791700e-01 4.06523676e-02 8.21357155e-02 1.69480636e+01] [-4.04772220e-02 9.99173247e-01 -3.79708698e-03 -3.90727885e-01] [-8.22221701e-02 4.56482106e-04 9.96613920e-01 -1.73746692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.567719421 meters 0.05210533164857086 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.40, Z:-1.74 [[ 9.96059227e-01 3.51761240e-02 8.14165638e-02 1.69798302e+01] [-3.49854508e-02 9.99380719e-01 -3.76777172e-03 -4.01862271e-01] [-8.14986797e-02 9.04528600e-04 9.96673039e-01 -1.74053964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.597719421 meters 0.05471136771994916 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.42, Z:-1.75 [[ 9.96645375e-01 2.68723017e-02 7.73037921e-02 1.70086729e+01] [-2.66734032e-02 9.99637703e-01 -3.60450692e-03 -4.19308081e-01] [-7.73726466e-02 1.53045994e-03 9.97001069e-01 -1.75098815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.627719421 meters 0.05521415179429938 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.42, Z:-1.76 [[ 9.97232232e-01 2.61305761e-02 6.96065256e-02 1.70393212e+01] [-2.59673499e-02 9.99657512e-01 -3.24895477e-03 -4.21285381e-01] [-6.96675833e-02 1.43246541e-03 9.97569234e-01 -1.75810317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.657719421 meters 0.05495955667495792 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.42, Z:-1.76 [[ 9.97312489e-01 2.81648298e-02 6.76353646e-02 1.70715382e+01] [-2.80159301e-02 9.99602516e-01 -3.14920698e-03 -4.21442198e-01] [-6.76971775e-02 1.24587580e-03 9.97705137e-01 -1.76220928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.687719421 meters 0.05367575146663528 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.42, Z:-1.76 [[ 9.96973096e-01 3.41650923e-02 6.98383245e-02 1.71020924e+01] [-3.40192022e-02 9.99415805e-01 -3.27762655e-03 -4.21067538e-01] [-6.99095057e-02 8.91861410e-04 9.97552939e-01 -1.76284099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.717719420999998 meters 0.052726529024707806 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.42, Z:-1.76 [[ 9.96728661e-01 3.85275800e-02 7.10464728e-02 1.71346658e+01] [-3.83873847e-02 9.99257357e-01 -3.33811392e-03 -4.20103252e-01] [-7.11223201e-02 5.99905536e-04 9.97467421e-01 -1.76422403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.747719421 meters 0.05207271465063994 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.41, Z:-1.76 [[ 9.96243660e-01 4.94479745e-02 7.10877499e-02 1.71674788e+01] [-4.93339996e-02 9.98776688e-01 -3.35922671e-03 -4.11657193e-01] [-7.11668944e-02 -1.60434714e-04 9.97464409e-01 -1.76405919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.777719421 meters 0.05264537337401339 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.40, Z:-1.77 [[ 9.95590496e-01 5.91878860e-02 7.27760820e-02 1.71999610e+01] [-5.90928119e-02 9.98246494e-01 -3.46072271e-03 -4.04357544e-01] [-7.28533015e-02 -8.55080677e-04 9.97342301e-01 -1.76561479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.807719420999998 meters 0.05323523782680309 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.40, Z:-1.77 [[ 9.95154025e-01 6.38818426e-02 7.47500964e-02 1.72332956e+01] [-6.37929444e-02 9.97956739e-01 -3.57872346e-03 -4.01423874e-01] [-7.48259779e-02 -1.20714768e-03 9.97195876e-01 -1.76643810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.837719421 meters 0.05409804252229683 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.40, Z:-1.77 [[ 9.94816208e-01 6.78990258e-02 7.56996398e-02 1.72653188e+01] [-6.78174242e-02 9.97691068e-01 -3.65099249e-03 -4.00000705e-01] [-7.57727533e-02 -1.50168808e-03 9.97123982e-01 -1.76893779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.867719421 meters 0.056232299127228436 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.40, Z:-1.78 [[ 9.94310244e-01 7.47345282e-02 7.59071096e-02 1.72968416e+01] [-7.46705960e-02 9.97201449e-01 -3.68399350e-03 -3.98474529e-01] [-7.59700012e-02 -2.00499664e-03 9.97108088e-01 -1.77578241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.897719421 meters 0.05741843482625418 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.40, Z:-1.78 [[ 9.94133312e-01 7.75733502e-02 7.53746142e-02 1.73291640e+01] [-7.75169616e-02 9.96984250e-01 -3.67782338e-03 -3.97790189e-01] [-7.54326043e-02 -2.18656434e-03 9.97148505e-01 -1.78103790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.927719421 meters 0.05894954858436049 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.39, Z:-1.78 [[ 9.93883148e-01 8.10826066e-02 7.49793242e-02 1.73601794e+01] [-8.10348640e-02 9.96704460e-01 -3.68381504e-03 -3.93959344e-01] [-7.50309201e-02 -2.41465765e-03 9.97178284e-01 -1.78312278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.957719421 meters 0.05904877574024778 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.40, Z:-1.79 [[ 9.93923964e-01 8.07734789e-02 7.47716400e-02 1.73913203e+01] [-8.07241076e-02 9.96729664e-01 -3.68719311e-03 -3.96304498e-01] [-7.48249390e-02 -2.37108432e-03 9.97193866e-01 -1.78583219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.987719421 meters 0.055810078461902786 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.41, Z:-1.79 [[ 9.94391834e-01 7.52571031e-02 7.43051072e-02 1.74224859e+01] [-7.51927959e-02 9.97162274e-01 -3.66652825e-03 -4.13296761e-01] [-7.43701819e-02 -1.94124300e-03 9.97228814e-01 -1.78797418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.017719421 meters 0.05371685904113502 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.43, Z:-1.79 [[ 9.95295442e-01 6.54878901e-02 7.14025204e-02 1.74520741e+01] [-6.54030238e-02 9.97852692e-01 -3.52839003e-03 -4.30950466e-01] [-7.14802640e-02 -1.15815023e-03 9.97441342e-01 -1.79471821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.047719421 meters 0.053018393603108095 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.44, Z:-1.80 [[ 9.95686233e-01 6.11147223e-02 6.98134369e-02 1.74835811e+01] [-6.10232285e-02 9.98130403e-01 -3.44452239e-03 -4.39502116e-01] [-6.98934249e-02 -8.30577784e-04 9.97554118e-01 -1.79937885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.077719421 meters 0.05291193612959253 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.45, Z:-1.81 [[ 9.95977133e-01 5.57302145e-02 7.01690406e-02 1.75135863e+01] [-5.56229018e-02 9.98445770e-01 -3.48385347e-03 -4.51427324e-01] [-7.02541377e-02 -4.33167265e-04 9.97529031e-01 -1.80617889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.107719421 meters 0.05241803328438297 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.46, Z:-1.81 [[ 9.96032594e-01 5.40711383e-02 7.06780266e-02 1.75461625e+01] [-5.39564118e-02 9.98537042e-01 -3.53277611e-03 -4.56395862e-01] [-7.07656489e-02 -2.94772560e-04 9.97492925e-01 -1.80735384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.137719421 meters 0.051963208457148795 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.46, Z:-1.81 [[ 9.95955798e-01 5.27185215e-02 7.27516722e-02 1.75786655e+01] [-5.25928040e-02 9.98609392e-01 -3.64393909e-03 -4.61484291e-01] [-7.28426062e-02 -1.97012175e-04 9.97343429e-01 -1.80629927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.167719421 meters 0.051552827638916346 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.47, Z:-1.81 [[ 9.95935439e-01 5.21991034e-02 7.34020048e-02 1.76103831e+01] [-5.20682408e-02 9.98636688e-01 -3.69653884e-03 -4.66600691e-01] [-7.34948909e-02 -1.40399232e-04 9.97295584e-01 -1.80692627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.197719421 meters 0.05131666980416314 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.48, Z:-1.81 [[ 9.96040351e-01 4.87234138e-02 7.43616087e-02 1.76416443e+01] [-4.85778003e-02 9.98812299e-01 -3.76667088e-03 -4.75717275e-01] [-7.44568144e-02 1.39432805e-04 9.97224229e-01 -1.81120032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.227719421 meters 0.051544295934786384 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.48, Z:-1.82 [[ 9.96077394e-01 4.66616946e-02 7.51831918e-02 1.76721250e+01] [-4.65050735e-02 9.98910698e-01 -3.83348376e-03 -4.81207527e-01] [-7.52801714e-02 3.22046657e-04 9.97162370e-01 -1.81650031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.257719421 meters 0.051421004712045824 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.49, Z:-1.82 [[ 9.96440006e-01 4.38531284e-02 7.20015159e-02 1.77036367e+01] [-4.37016500e-02 9.99037854e-01 -3.67857425e-03 -4.87593580e-01] [-7.20935569e-02 5.18893499e-04 9.97397739e-01 -1.81646476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.287719421 meters 0.05154326767181124 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.49, Z:-1.82 [[ 9.96540476e-01 4.29427372e-02 7.11547672e-02 1.77348812e+01] [-4.27910909e-02 9.99077357e-01 -3.65488196e-03 -4.91378151e-01] [-7.12460674e-02 5.97447692e-04 9.97458591e-01 -1.82065064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.317719421 meters 0.051601026190283526 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.49, Z:-1.82 [[ 9.96459690e-01 4.27441707e-02 7.23949094e-02 1.77664682e+01] [-4.25851633e-02 9.99085843e-01 -3.73917468e-03 -4.88774475e-01] [-7.24885570e-02 6.42987798e-04 9.97369037e-01 -1.82144007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.347719421 meters 0.05125301232226252 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.49, Z:-1.82 [[ 9.96267746e-01 4.54734606e-02 7.33671830e-02 1.77989810e+01] [-4.53160725e-02 9.98965436e-01 -3.80925142e-03 -4.85421369e-01] [-7.34644998e-02 4.70321744e-04 9.97297722e-01 -1.82164511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.377719421 meters 0.05154397283162624 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.48, Z:-1.83 [[ 9.95940055e-01 5.33963389e-02 7.24723181e-02 1.78305823e+01] [-5.32622337e-02 9.98573394e-01 -3.78311826e-03 -4.81430492e-01] [-7.25709333e-02 -9.22785327e-05 9.97363249e-01 -1.82889684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.407719421 meters 0.052448621985868756 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.47, Z:-1.83 [[ 9.95315737e-01 6.39733970e-02 7.24843994e-02 1.78615139e+01] [-6.38654984e-02 9.97951251e-01 -3.80766022e-03 -4.73577618e-01] [-7.25794860e-02 -8.39428156e-04 9.97362278e-01 -1.83486251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.437719421 meters 0.0532961167695652 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.47, Z:-1.84 [[ 9.94975821e-01 6.87470398e-02 7.27802162e-02 1.78940299e+01] [-6.86496241e-02 9.97633433e-01 -3.84210481e-03 -4.67471181e-01] [-7.28721103e-02 -1.17353309e-03 9.97340603e-01 -1.83636356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.467719420999998 meters 0.05578445411124964 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.45, Z:-1.83 [[ 9.94047636e-01 7.77981094e-02 7.62676325e-02 1.79259599e+01] [-7.77156502e-02 9.96967327e-01 -4.05302746e-03 -4.52801794e-01] [-7.63516555e-02 -1.89828628e-03 9.97079145e-01 -1.83375681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.497719421 meters 0.056929199014047305 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.45, Z:-1.83 [[ 9.93699360e-01 8.06262469e-02 7.78523646e-02 1.79581580e+01] [-8.05483674e-02 9.96742082e-01 -4.14517989e-03 -4.50744770e-01] [-7.79329383e-02 -2.15181826e-03 9.96956281e-01 -1.83475526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.527719421 meters 0.05830809857479202 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.46, Z:-1.84 [[ 9.93548386e-01 8.32414501e-02 7.70224978e-02 1.79897376e+01] [-8.31710231e-02 9.96526741e-01 -4.12730330e-03 -4.56073211e-01] [-7.70985414e-02 -2.30536440e-03 9.97020812e-01 -1.84243679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.557719420999998 meters 0.05890103274235052 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.46, Z:-1.85 [[ 9.93748078e-01 8.36320681e-02 7.39623805e-02 1.80207333e+01] [-8.35677815e-02 9.96494192e-01 -3.96887985e-03 -4.61025896e-01] [-7.40350082e-02 -2.23680533e-03 9.97253134e-01 -1.85061532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.587719421 meters 0.06044584238957664 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.47, Z:-1.86 [[ 9.94102824e-01 8.44537186e-02 6.80231198e-02 1.80505899e+01] [-8.44007793e-02 9.96425178e-01 -3.65697116e-03 -4.65928938e-01] [-6.80887941e-02 -2.10579897e-03 9.97677043e-01 -1.86133994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.617719421 meters 0.06042101806337215 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.47, Z:-1.87 [[ 9.94246859e-01 8.43306398e-02 6.60418616e-02 1.80820615e+01] [-8.42809977e-02 9.96435730e-01 -3.54238182e-03 -4.70568369e-01] [-6.61052020e-02 -2.04407199e-03 9.97810565e-01 -1.86661973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.647719421 meters 0.05870292919530347 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.48, Z:-1.87 [[ 9.94211465e-01 8.38573245e-02 6.71677923e-02 1.81138055e+01] [-8.38036400e-02 9.96475707e-01 -3.62148270e-03 -4.81640370e-01] [-6.72347612e-02 -2.02838587e-03 9.97735121e-01 -1.86538527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.677719421 meters 0.057746411296328216 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.49, Z:-1.87 [[ 9.94082505e-01 8.24583328e-02 7.07149016e-02 1.81450999e+01] [-8.23931852e-02 9.96592493e-01 -3.84263487e-03 -4.88590384e-01] [-7.07907974e-02 -2.00652989e-03 9.97489166e-01 -1.86507501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.707719421 meters 0.05641266070121962 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.50, Z:-1.86 [[ 9.93992140e-01 8.05104557e-02 7.41464212e-02 1.81760922e+01] [-8.04331877e-02 9.96751846e-01 -4.03241168e-03 -4.99890134e-01] [-7.42302335e-02 -1.95564750e-03 9.97239213e-01 -1.86244336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.737719421 meters 0.05550284213332698 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.51, Z:-1.86 [[ 9.93818460e-01 8.10770765e-02 7.58378342e-02 1.82084173e+01] [-8.09981677e-02 9.96705732e-01 -4.12080058e-03 -5.06706667e-01] [-7.59221065e-02 -2.04739792e-03 9.97111650e-01 -1.86224455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.767719421 meters 0.05605553485774006 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.51, Z:-1.86 [[ 9.93294824e-01 8.43671939e-02 7.90415644e-02 1.82413055e+01] [-8.42899707e-02 9.96431908e-01 -4.31889668e-03 -5.14407815e-01] [-7.91239100e-02 -2.37247342e-03 9.96861965e-01 -1.86426145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.797719421 meters 0.056706495885422765 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.52, Z:-1.87 [[ 9.93232126e-01 8.61712230e-02 7.78746741e-02 1.82730795e+01] [-8.60996607e-02 9.96277326e-01 -4.28234995e-03 -5.16683890e-01] [-7.79537874e-02 -2.45161547e-03 9.96953959e-01 -1.86848613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.827719421 meters 0.058951599748048505 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.51, Z:-1.88 [[ 9.93294461e-01 8.91500997e-02 7.36095998e-02 1.83029656e+01] [-8.90922184e-02 9.96015041e-01 -4.07600569e-03 -5.13097307e-01] [-7.36796449e-02 -2.50936867e-03 9.97278804e-01 -1.87748903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.857719421 meters 0.05876387604258097 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.52, Z:-1.88 [[ 9.93420180e-01 8.86520462e-02 7.25062765e-02 1.83352522e+01] [-8.85951344e-02 9.96059660e-01 -4.00699896e-03 -5.15408642e-01] [-7.25758058e-02 -2.44306968e-03 9.97359907e-01 -1.88190936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.887719421 meters 0.0565326960991615 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.52, Z:-1.89 [[ 9.93966767e-01 8.26229968e-02 7.21353356e-02 1.83659634e+01] [-8.25484175e-02 9.96578949e-01 -4.01960590e-03 -5.24049981e-01] [-7.22206689e-02 -1.95930312e-03 9.97386754e-01 -1.88545443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.917719421 meters 0.054484595990381114 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.53, Z:-1.89 [[ 9.94384862e-01 7.69304338e-02 7.26667334e-02 1.83963982e+01] [-7.68393491e-02 9.97035252e-01 -4.05231969e-03 -5.33435551e-01] [-7.27630415e-02 -1.55409914e-03 9.97348046e-01 -1.88843327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.947719421 meters 0.05136955151332467 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.55, Z:-1.89 [[ 9.95366028e-01 6.27289613e-02 7.28803666e-02 1.84264940e+01] [-6.25990238e-02 9.98030468e-01 -4.06793932e-03 -5.50451660e-01] [-7.29920039e-02 -5.13151196e-04 9.97332394e-01 -1.89148317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.977719421 meters 0.050834137797998946 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.56, Z:-1.89 [[ 9.95570532e-01 5.68030407e-02 7.49181624e-02 1.84586219e+01] [-5.66490140e-02 9.98385400e-01 -4.18106340e-03 -5.58886858e-01] [-7.50346967e-02 -8.14965226e-05 9.97180920e-01 -1.89380235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.007719421 meters 0.05104925381378316 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.57, Z:-1.90 [[ 9.95954113e-01 4.77477990e-02 7.61285242e-02 1.84907540e+01] [-4.75621595e-02 9.98859235e-01 -4.25072882e-03 -5.72240478e-01] [-7.62446424e-02 6.12693846e-04 9.97088952e-01 -1.89628264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.037719421 meters 0.050966827525305895 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.58, Z:-1.90 [[ 9.95929900e-01 4.61208319e-02 7.74370925e-02 1.85229136e+01] [-4.59217615e-02 9.98935566e-01 -4.35042171e-03 -5.75613031e-01] [-7.75553109e-02 7.76667359e-04 9.96987748e-01 -1.89767700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.067719421 meters 0.05108376476689554 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.57, Z:-1.90 [[ 9.95904138e-01 4.83706401e-02 7.63886676e-02 1.85543823e+01] [-4.81818980e-02 9.98829266e-01 -4.31293442e-03 -5.71884528e-01] [-7.65078562e-02 6.14718243e-04 9.97068789e-01 -1.90469747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.097719421 meters 0.050559338207219695 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.56, Z:-1.91 [[ 9.95572928e-01 5.63669759e-02 7.52150833e-02 1.85878738e+01] [-5.62050899e-02 9.98410118e-01 -4.26899825e-03 -5.59037883e-01] [-7.53361307e-02 2.26285671e-05 9.97158196e-01 -1.90518685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.127719421 meters 0.050752847899201356 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.55, Z:-1.91 [[ 9.95158042e-01 6.27284930e-02 7.56677444e-02 1.86212931e+01] [-6.25810776e-02 9.98030534e-01 -4.32005421e-03 -5.53032824e-01] [-7.57897098e-02 -4.36232288e-04 9.97123728e-01 -1.90790978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.157719421 meters 0.05275169413809418 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.54, Z:-1.91 [[ 9.94032437e-01 7.63641511e-02 7.78975674e-02 1.86539333e+01] [-7.62471057e-02 9.97078887e-01 -4.48007009e-03 -5.39032791e-01] [-7.80121366e-02 -1.48612907e-03 9.96951302e-01 -1.91078822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.187719421 meters 0.05275169413809418 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.54, Z:-1.91 [[ 9.94006754e-01 7.66977590e-02 7.78975453e-02 1.86862856e+01] [-7.65817041e-02 9.97053242e-01 -4.48047777e-03 -5.41163325e-01] [-7.80116427e-02 -1.51190161e-03 9.96951302e-01 -1.91412421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.217719420999998 meters 0.05531949654451571 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.53, Z:-1.92 [[ 9.93318931e-01 8.36912081e-02 7.94561670e-02 1.87171705e+01] [-8.35902271e-02 9.96489586e-01 -4.60206221e-03 -5.31876207e-01] [-7.95623951e-02 -2.07044353e-03 9.96827738e-01 -1.91853331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.247719421 meters 0.05971896725875361 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.52, Z:-1.92 [[ 9.92598593e-01 9.46689428e-02 7.60646023e-02 1.87485989e+01] [-9.46074793e-02 9.95504845e-01 -4.41914184e-03 -5.18650272e-01] [-7.61410356e-02 -2.80984632e-03 9.97093099e-01 -1.92436635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.277719421 meters 0.061308703580606576 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.52, Z:-1.93 [[ 9.92499554e-01 9.76513431e-02 7.35448916e-02 1.87793143e+01] [-9.76018435e-02 9.95216359e-01 -4.27532106e-03 -5.17485847e-01] [-7.36105701e-02 -2.93486275e-03 9.97282744e-01 -1.92954450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.307719420999998 meters 0.06131004088668411 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.52, Z:-1.93 [[ 9.92373441e-01 9.98313813e-02 7.23093935e-02 1.88095835e+01] [-9.97891863e-02 9.94999717e-01 -4.20495656e-03 -5.23457775e-01] [-7.23676127e-02 -3.04280833e-03 9.97373385e-01 -1.93442287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.337719421 meters 0.06333065503554411 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.52, Z:-1.94 [[ 9.92249335e-01 9.97306817e-02 7.41285977e-02 1.88389585e+01] [-9.96858537e-02 9.95009610e-01 -4.31364773e-03 -5.20197775e-01] [-7.41888701e-02 -3.10935845e-03 9.97239361e-01 -1.93759256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.367719421 meters 0.061179975160705176 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.53, Z:-1.94 [[ 9.92222427e-01 9.94677246e-02 7.48386721e-02 1.88697090e+01] [-9.94214609e-02 9.95035892e-01 -4.35273400e-03 -5.25063604e-01] [-7.49001214e-02 -3.12168981e-03 9.97186155e-01 -1.93686252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.397719421 meters 0.06336963152728253 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.53, Z:-1.95 [[ 9.92375742e-01 9.96361209e-02 7.25467493e-02 1.88991531e+01] [-9.95931271e-02 9.95019302e-01 -4.21879717e-03 -5.29823552e-01] [-7.26057604e-02 -3.03852566e-03 9.97356090e-01 -1.94564373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.427719421 meters 0.06224432497632868 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.54, Z:-1.95 [[ 9.92513641e-01 9.95102117e-02 7.08123618e-02 1.89288709e+01] [-9.94687671e-02 9.95032155e-01 -4.12007486e-03 -5.40012968e-01] [-7.08705665e-02 -2.95438782e-03 9.97481145e-01 -1.94959203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.457719421 meters 0.06107035107235919 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.55, Z:-1.95 [[ 9.92780047e-01 9.63002863e-02 7.15124659e-02 1.89586034e+01] [-9.62499980e-02 9.95348511e-01 -4.15688366e-03 -5.50239681e-01] [-7.15801356e-02 -2.75620354e-03 9.97431044e-01 -1.95278769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.487719421 meters 0.05918640667588894 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.56, Z:-1.95 [[ 9.93026462e-01 9.27805552e-02 7.27338545e-02 1.89900786e+01] [-9.27182872e-02 9.95683357e-01 -4.23931819e-03 -5.57979680e-01] [-7.28132147e-02 -2.53400327e-03 9.97342376e-01 -1.95360590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.517719421 meters 0.05469985609276282 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.58, Z:-1.95 [[ 9.93594102e-01 8.45349388e-02 7.49973582e-02 1.90193733e+01] [-8.44448147e-02 9.96418541e-01 -4.37762767e-03 -5.79134648e-01] [-7.50988207e-02 -1.98355298e-03 9.97174124e-01 -1.95298148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.547719421 meters 0.0525954127881563 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.60, Z:-1.96 [[ 9.94601713e-01 7.25958783e-02 7.41435767e-02 1.90474515e+01] [-7.24745682e-02 9.97360866e-01 -4.32887589e-03 -5.98633484e-01] [-7.42621604e-02 -1.06801633e-03 9.97238182e-01 -1.96109988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.577719421 meters 0.05102623255526913 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.61, Z:-1.96 [[ 9.94994455e-01 6.59044589e-02 7.51174879e-02 1.90791912e+01] [-6.57615037e-02 9.97825767e-01 -4.37761967e-03 -6.13460484e-01] [-7.52426696e-02 -5.84131656e-04 9.97165081e-01 -1.96062374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.607719421 meters 0.05062104272309948 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.64, Z:-1.96 [[ 9.95523646e-01 5.54694448e-02 7.65232748e-02 1.91101855e+01] [-5.52884891e-02 9.98460358e-01 -4.48286466e-03 -6.37192151e-01] [-7.66541184e-02 2.31941527e-04 9.97057718e-01 -1.96140998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.637719421 meters 0.05078140411349003 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.65, Z:-1.96 [[ 9.95732353e-01 5.25616537e-02 7.58574594e-02 1.91419059e+01] [-5.23736543e-02 9.98617568e-01 -4.46691445e-03 -6.46137643e-01] [-7.59873800e-02 4.74918888e-04 9.97108666e-01 -1.96417889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.667719421 meters 0.05158314966304772 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.65, Z:-1.97 [[ 9.96106644e-01 4.69433351e-02 7.46182116e-02 1.91720329e+01] [-4.67434625e-02 9.98897132e-01 -4.42370851e-03 -6.53221561e-01] [-7.47435812e-02 9.18571864e-04 9.97202363e-01 -1.96831194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.697719421 meters 0.05184700005721066 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.66, Z:-1.97 [[ 9.96137409e-01 4.60459153e-02 7.47665436e-02 1.92037406e+01] [-4.58430431e-02 9.98938840e-01 -4.42822402e-03 -6.55095620e-01] [-7.48911060e-02 9.83593721e-04 9.97191233e-01 -1.97123582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.727719421 meters 0.05195924380197503 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.66, Z:-1.97 [[ 9.96018924e-01 4.43209866e-02 7.73430825e-02 1.92359717e+01] [-4.40966194e-02 9.99016647e-01 -4.60721227e-03 -6.58109112e-01] [-7.74712232e-02 1.17830214e-03 9.96993892e-01 -1.97173464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.757719421 meters 0.052191960812487975 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.66, Z:-1.97 [[ 9.95958780e-01 4.35903236e-02 7.85238293e-02 1.92676752e+01] [-4.33548677e-02 9.99048672e-01 -4.70167865e-03 -6.62123712e-01] [-7.86540751e-02 1.27828790e-03 9.96901150e-01 -1.97365069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.787719421 meters 0.05311894845726859 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.67, Z:-1.98 [[ 9.96117194e-01 4.07145396e-02 7.80567863e-02 1.92981902e+01] [-4.04711939e-02 9.99169663e-01 -4.69761499e-03 -6.68315555e-01] [-7.81832341e-02 1.52032373e-03 9.96937847e-01 -1.97854252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.817719421 meters 0.054244798479756044 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.67, Z:-1.98 [[ 9.96343795e-01 3.74598984e-02 7.67840960e-02 1.93294400e+01] [-3.72131882e-02 9.99296569e-01 -4.64183074e-03 -6.69818377e-01] [-7.69039662e-02 1.76747824e-03 9.97036938e-01 -1.98473462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.847719421 meters 0.054476853206935065 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.67, Z:-1.99 [[ 9.96423279e-01 3.83185841e-02 7.53149059e-02 1.93618431e+01] [-3.80822207e-02 9.99264148e-01 -4.57248243e-03 -6.68247346e-01] [-7.54346963e-02 1.68796907e-03 9.97149315e-01 -1.99051685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.877719421 meters 0.05461343213243514 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.66, Z:-2.00 [[ 9.96635187e-01 4.07833596e-02 7.10986705e-02 1.93928504e+01] [-4.05776142e-02 9.99166980e-01 -4.33634102e-03 -6.63066051e-01] [-7.12162944e-02 1.43673562e-03 9.97459861e-01 -1.99951653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.907719421 meters 0.054413330229569394 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.66, Z:-2.00 [[ 9.96609174e-01 4.18012194e-02 7.08718030e-02 1.94258703e+01] [-4.15981557e-02 9.99124999e-01 -4.33937922e-03 -6.62488162e-01] [-7.09911814e-02 1.37652884e-03 9.97475993e-01 -2.00311806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.937719421 meters 0.053851892253006836 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.66, Z:-2.00 [[ 9.96415523e-01 4.09445596e-02 7.40246434e-02 1.94583829e+01] [-4.07186357e-02 9.99160250e-01 -4.55923492e-03 -6.58455843e-01] [-7.41491571e-02 1.52870996e-03 9.97245990e-01 -2.00141103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.967719420999998 meters 0.05455171705639269 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.66, Z:-2.00 [[ 9.96410136e-01 3.83854610e-02 7.54546058e-02 1.94901346e+01] [-3.81416165e-02 9.99261429e-01 -4.67058709e-03 -6.60548659e-01] [-7.55781599e-02 1.77585968e-03 9.97138299e-01 -2.00336616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.997719421 meters 0.056704451390072054 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.67, Z:-2.01 [[ 9.96526381e-01 3.19229455e-02 7.69161685e-02 1.95214540e+01] [-3.16481975e-02 9.99487599e-01 -4.78864679e-03 -6.66258396e-01] [-7.70296243e-02 2.33775476e-03 9.97026064e-01 -2.00596744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.027719421 meters 0.058375847857000826 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.67, Z:-2.01 [[ 9.96703484e-01 2.76567084e-02 7.62710410e-02 1.95522025e+01] [-2.73731253e-02 9.99613947e-01 -4.76120498e-03 -6.71157330e-01] [-7.63732756e-02 2.65773283e-03 9.97075754e-01 -2.01161702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.057719420999998 meters 0.06347098896647475 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.68, Z:-2.02 [[ 9.97256489e-01 1.81075740e-02 7.17747200e-02 1.95811740e+01] [-1.78316154e-02 9.99830951e-01 -4.48373360e-03 -6.79101180e-01] [-7.18437761e-02 3.19157322e-03 9.97410791e-01 -2.01834941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.087719421 meters 0.06510697838859028 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.68, Z:-2.02 [[ 9.97274894e-01 1.09303431e-02 7.29610441e-02 1.96121772e+01] [-1.06258281e-02 9.99933144e-01 -4.56052691e-03 -6.77311075e-01] [-7.30060144e-02 3.77282748e-03 9.97324364e-01 -2.01780569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.117719421 meters 0.06570317281923287 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.68, Z:-2.02 [[ 9.97015738e-01 1.01875695e-02 7.65234108e-02 1.96450593e+01] [-9.85085970e-03 9.99940072e-01 -4.77627427e-03 -6.77057938e-01] [-7.65674835e-02 4.00819923e-03 9.97056345e-01 -2.01765156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.147719420999998 meters 0.065707968599061 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.68, Z:-2.02 [[ 9.96747319e-01 1.02174667e-02 7.99398851e-02 1.96778648e+01] [-9.84800557e-03 9.99938933e-01 -5.01463790e-03 -6.75287724e-01] [-7.99862403e-02 4.21107845e-03 9.96787073e-01 -2.01783702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.177719421 meters 0.06435604245009115 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.66, Z:-2.02 [[ 9.96717044e-01 1.39542797e-02 7.97521984e-02 1.97101163e+01] [-1.35961714e-02 9.99894908e-01 -5.03155400e-03 -6.63896326e-01] [-7.98140288e-02 3.93071106e-03 9.96802022e-01 -2.02113172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.207719421 meters 0.06255153125082877 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.65, Z:-2.03 [[ 9.96891975e-01 1.84737380e-02 7.65840083e-02 1.97423569e+01] [-1.81565839e-02 9.99823462e-01 -4.83552530e-03 -6.50870319e-01] [-7.66598185e-02 3.42999239e-03 9.97051407e-01 -2.02902097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.237719421 meters 0.06188539840213008 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.65, Z:-2.03 [[ 9.96900511e-01 2.16515437e-02 7.56345288e-02 1.97734814e+01] [-2.13511935e-02 9.99760622e-01 -4.77751406e-03 -6.45709278e-01] [-7.57198641e-02 3.14781874e-03 9.97124161e-01 -2.03340344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.267719421 meters 0.05980193836124228 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.63, Z:-2.04 [[ 9.96870809e-01 2.45696698e-02 7.51326941e-02 1.98065752e+01] [-2.42801153e-02 9.99693838e-01 -4.76502686e-03 -6.30504627e-01] [-7.52267665e-02 2.92588571e-03 9.97162160e-01 -2.03557198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.297719421 meters 0.060292729205946666 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.63, Z:-2.04 [[ 9.96855004e-01 2.51438543e-02 7.51524265e-02 1.98380988e+01] [-2.48538343e-02 9.99679611e-01 -4.79198668e-03 -6.26442406e-01] [-7.52488375e-02 2.90908994e-03 9.97160544e-01 -2.03934727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.327719421 meters 0.06001486912304886 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.61, Z:-2.04 [[ 9.96866203e-01 2.66634780e-02 7.44770525e-02 1.98715168e+01] [-2.63822292e-02 9.99640606e-01 -4.75774328e-03 -6.12384764e-01] [-7.45771439e-02 2.77796281e-03 9.97211378e-01 -2.04311840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.357719421 meters 0.0598506334810608 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.61, Z:-2.05 [[ 9.97030028e-01 2.71830622e-02 7.20569468e-02 1.99035897e+01] [-2.69197551e-02 9.99626908e-01 -4.62295809e-03 -6.08615701e-01] [-7.21557291e-02 2.66947268e-03 9.97389806e-01 -2.04847508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.387719421 meters 0.05868469050737946 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.60, Z:-2.05 [[ 9.97026861e-01 3.05358541e-02 7.07460230e-02 1.99361459e+01] [-3.02890606e-02 9.99530785e-01 -4.55883215e-03 -5.99015525e-01] [-7.08520357e-02 2.40244754e-03 9.97483943e-01 -2.05454221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.417719421 meters 0.057431059385710505 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.59, Z:-2.06 [[ 9.96790767e-01 3.44524350e-02 7.22578509e-02 1.99679886e+01] [-3.42030974e-02 9.99403919e-01 -4.68553761e-03 -5.92846222e-01] [-7.23762076e-02 2.19905832e-03 9.97374979e-01 -2.05648525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.447719421 meters 0.0546867954855152 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.57, Z:-2.06 [[ 9.96358995e-01 4.25280716e-02 7.38926024e-02 2.00005128e+01] [-4.22891717e-02 9.99093905e-01 -4.79534476e-03 -5.74694936e-01] [-7.40295854e-02 1.65302793e-03 9.97254676e-01 -2.05715084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.477719421 meters 0.052811907975199315 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.55, Z:-2.06 [[ 9.95802096e-01 5.09368411e-02 7.60501452e-02 2.00327009e+01] [-5.07080513e-02 9.98701313e-01 -4.93761563e-03 -5.53386601e-01] [-7.62028865e-02 1.06053332e-03 9.97091769e-01 -2.05523782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.507719421 meters 0.05258505023588422 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.55, Z:-2.06 [[ 9.95443451e-01 5.42360508e-02 7.84269468e-02 2.00641671e+01] [-5.40034434e-02 9.98527800e-01 -5.08537476e-03 -5.47782162e-01] [-7.85872973e-02 8.26877822e-04 9.96906893e-01 -2.05894000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.537719421 meters 0.05180319469077812 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.54, Z:-2.06 [[ 9.95142850e-01 5.64045145e-02 8.06798572e-02 2.00968760e+01] [-5.61635932e-02 9.98407755e-01 -5.25417905e-03 -5.42305305e-01] [-8.08477545e-02 6.97388029e-04 9.96726218e-01 -2.05931910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.567719421 meters 0.05154910940242745 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.54, Z:-2.06 [[ 9.95002566e-01 5.70924812e-02 8.19166749e-02 2.01292024e+01] [-5.68444020e-02 9.98368665e-01 -5.35932946e-03 -5.40868481e-01] [-8.20890187e-02 6.76042170e-04 9.96624772e-01 -2.06194558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.597719421 meters 0.05132473943547651 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.53, Z:-2.07 [[ 9.94862870e-01 5.92318755e-02 8.20941856e-02 2.01618033e+01] [-5.89880017e-02 9.98244113e-01 -5.39500255e-03 -5.32500346e-01] [-8.22695936e-02 5.24715751e-04 9.96609973e-01 -2.06535533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.627719421 meters 0.051356300498160784 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.53, Z:-2.07 [[ 9.94958089e-01 6.10470318e-02 7.95717359e-02 2.01935597e+01] [-6.08219591e-02 9.98134816e-01 -5.25145820e-03 -5.29048531e-01] [-7.97439059e-02 3.85271947e-04 9.96815309e-01 -2.07018856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.657719421 meters 0.051470832094254494 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.51, Z:-2.07 [[ 9.94360349e-01 7.09722498e-02 7.88063228e-02 2.02253917e+01] [-7.07808809e-02 9.97478216e-01 -5.22257252e-03 -5.14945117e-01] [-7.89782480e-02 -3.84861908e-04 9.96876265e-01 -2.07462267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.687719421 meters 0.05188115424652415 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.51, Z:-2.07 [[ 9.93976898e-01 7.68068911e-02 7.81705017e-02 2.02570796e+01] [-7.66344937e-02 9.97045655e-01 -5.20734456e-03 -5.07669112e-01] [-7.83395190e-02 -8.14576620e-04 9.96926405e-01 -2.07479076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.717719420999998 meters 0.05418908957937457 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.49, Z:-2.08 [[ 9.93384065e-01 8.69218200e-02 7.50512934e-02 2.02877425e+01] [-8.67913561e-02 9.96213942e-01 -5.00429525e-03 -4.94336849e-01] [-7.52021273e-02 -1.54261638e-03 9.97167118e-01 -2.08001806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.747719421 meters 0.05666939599780875 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.49, Z:-2.09 [[ 9.93149937e-01 9.13304941e-02 7.28830813e-02 2.03159514e+01] [-9.12193232e-02 9.95818970e-01 -4.85947367e-03 -4.89426505e-01] [-7.30221730e-02 -1.82215938e-03 9.97328653e-01 -2.08915266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.777719421 meters 0.05620075193739054 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.49, Z:-2.09 [[ 9.92695624e-01 9.53461362e-02 7.39223440e-02 2.03454211e+01] [-9.52431863e-02 9.95441853e-01 -4.92463090e-03 -4.89987873e-01] [-7.40549396e-02 -2.15194004e-03 9.97251841e-01 -2.08801193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.807719420999998 meters 0.05655231319573399 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.49, Z:-2.09 [[ 9.92501566e-01 9.57599435e-02 7.59649602e-02 2.03730449e+01] [-9.56528470e-02 9.95401917e-01 -5.05536867e-03 -4.88957957e-01] [-7.60997688e-02 -2.24880339e-03 9.97097672e-01 -2.08876928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.837719421 meters 0.05654317888105853 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.49, Z:-2.09 [[ 9.92464915e-01 9.47467629e-02 7.76945477e-02 2.04009024e+01] [-9.46325775e-02 9.95498903e-01 -5.15847529e-03 -4.89410635e-01] [-7.78335858e-02 -2.23282957e-03 9.96963865e-01 -2.08990614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.867719421 meters 0.055851795261535726 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.49, Z:-2.09 [[ 9.92666486e-01 9.37350572e-02 7.63347022e-02 2.04292558e+01] [-9.36227063e-02 9.95594906e-01 -5.05697360e-03 -4.94192188e-01] [-7.64724564e-02 -2.12677320e-03 9.97069426e-01 -2.09306556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.897719420999998 meters 0.05550099664071035 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.50, Z:-2.10 [[ 9.93284254e-01 9.03178399e-02 7.23123735e-02 2.04571385e+01] [-9.02083872e-02 9.95911418e-01 -4.78476136e-03 -5.02951229e-01] [-7.24488678e-02 -1.77055448e-03 9.97370556e-01 -2.10083088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.927719421 meters 0.05477239456782818 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.51, Z:-2.11 [[ 9.93732788e-01 8.65807510e-02 7.07030356e-02 2.04851676e+01] [-8.64670867e-02 9.96243751e-01 -4.67240215e-03 -5.11517218e-01] [-7.08419975e-02 -1.47036629e-03 9.97486466e-01 -2.10500110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.957719421 meters 0.054183310542770216 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.52, Z:-2.11 [[ 9.93771349e-01 8.42831040e-02 7.29031117e-02 2.05124003e+01] [-8.41565152e-02 9.96440930e-01 -4.81187785e-03 -5.16480540e-01] [-7.30492044e-02 -1.35336548e-03 9.97327420e-01 -2.10640054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.987719421 meters 0.05400039278163957 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.52, Z:-2.11 [[ 9.93782185e-01 8.21605765e-02 7.51439134e-02 2.05402259e+01] [-8.20207025e-02 9.96618329e-01 -4.95081359e-03 -5.21065506e-01] [-7.52965631e-02 -1.24332622e-03 9.97160409e-01 -2.10923849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.017719421 meters 0.052317165607773115 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.53, Z:-2.11 [[ 9.94100838e-01 7.68387409e-02 7.65462741e-02 2.05694190e+01] [-7.66784234e-02 9.97043160e-01 -5.03559523e-03 -5.32162863e-01] [-7.67068678e-02 -8.63558177e-04 9.97053314e-01 -2.10783413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.047719421 meters 0.052257418551791474 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.54, Z:-2.11 [[ 9.94358870e-01 7.39996939e-02 7.59900240e-02 2.05984073e+01] [-7.38337046e-02 9.97258056e-01 -4.99528608e-03 -5.36844288e-01] [-7.61513133e-02 -6.43517971e-04 9.97096065e-01 -2.11380742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.077719421 meters 0.0521085494895643 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.55, Z:-2.12 [[ 9.94940355e-01 6.81921524e-02 7.37802144e-02 2.06292385e+01] [-6.80199702e-02 9.97672187e-01 -4.84683393e-03 -5.45570522e-01] [-7.39389839e-02 -1.96217319e-04 9.97262748e-01 -2.11990079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.107719421 meters 0.0521085494895643 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.55, Z:-2.12 [[ 9.94921468e-01 6.84668877e-02 7.37804665e-02 2.06607677e+01] [-6.82957430e-02 9.97653365e-01 -4.84301629e-03 -5.47845556e-01] [-7.39389170e-02 -2.20470909e-04 9.97262748e-01 -2.12315362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.137719421 meters 0.05185159017632818 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.55, Z:-2.12 [[ 9.95006166e-01 6.52577474e-02 7.55258657e-02 2.06923068e+01] [-6.50670733e-02 9.97868440e-01 -4.98514624e-03 -5.54644780e-01] [-7.56901972e-02 4.60042044e-05 9.97131381e-01 -2.12430733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.167719421 meters 0.05171038756465489 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.56, Z:-2.13 [[ 9.94878149e-01 6.66655841e-02 7.59813680e-02 2.07246593e+01] [-6.64768085e-02 9.97775373e-01 -5.01378068e-03 -5.56740864e-01] [-7.61465844e-02 -6.28979988e-05 9.97096632e-01 -2.12637887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.197719421 meters 0.05247755187926454 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.55, Z:-2.13 [[ 9.94681859e-01 7.32088702e-02 7.24462581e-02 2.07565628e+01] [-7.30527005e-02 9.97316499e-01 -4.80657263e-03 -5.52903602e-01] [-7.26037323e-02 -5.11384198e-04 9.97360735e-01 -2.13248673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.227719421 meters 0.05328847308829698 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.55, Z:-2.14 [[ 9.94402856e-01 7.79578730e-02 7.13129078e-02 2.07870547e+01] [-7.78181318e-02 9.96956304e-01 -4.73996165e-03 -5.50239553e-01] [-7.14653703e-02 -8.36005853e-04 9.97442731e-01 -2.13598196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.257719421 meters 0.05520576510483413 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.54, Z:-2.14 [[ 9.93441620e-01 8.80849030e-02 7.29026604e-02 2.08164006e+01] [-8.79659180e-02 9.96111690e-01 -4.84752545e-03 -5.42578379e-01] [-7.30461861e-02 -1.59721591e-03 9.97327280e-01 -2.13734002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.287719421 meters 0.05649219516819764 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.54, Z:-2.14 [[ 9.92926974e-01 9.26124492e-02 7.42896933e-02 2.08456102e+01] [-9.25018617e-02 9.95700280e-01 -4.93538251e-03 -5.41025918e-01] [-7.44273463e-02 -1.97146052e-03 9.97224490e-01 -2.13990742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.317719421 meters 0.05934186890350025 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.54, Z:-2.14 [[ 9.92229770e-01 9.99185338e-02 7.41375132e-02 2.08742578e+01] [-9.98292923e-02 9.94992426e-01 -4.91773442e-03 -5.39125103e-01] [-7.42576369e-02 -2.52157298e-03 9.97235902e-01 -2.14368149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.347719421 meters 0.060492992029790596 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.54, Z:-2.15 [[ 9.92045981e-01 1.02024236e-01 7.37280622e-02 2.09025337e+01] [-1.01941918e-01 9.94778340e-01 -4.88864061e-03 -5.41277009e-01] [-7.38418392e-02 -2.66622383e-03 9.97266401e-01 -2.14771577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.377719421 meters 0.059752316089761906 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.55, Z:-2.15 [[ 9.91998470e-01 1.02653711e-01 7.34931984e-02 2.09313505e+01] [-1.02574088e-01 9.94713461e-01 -4.86697844e-03 -5.49554824e-01] [-7.36042871e-02 -2.71046261e-03 9.97283842e-01 -2.14804307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.407719421 meters 0.059705220270737894 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.55, Z:-2.15 [[ 9.91942924e-01 1.02378511e-01 7.46182009e-02 2.09599380e+01] [-1.02296160e-01 9.94741747e-01 -4.93480945e-03 -5.53004411e-01] [-7.47310580e-02 -2.73810610e-03 9.97199966e-01 -2.14995304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.437719421 meters 0.06064207352599641 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.56, Z:-2.15 [[ 9.91851237e-01 1.01178306e-01 7.74214096e-02 2.09876284e+01] [-1.01086573e-01 9.94864494e-01 -5.11307702e-03 -5.57407628e-01] [-7.75411439e-02 -2.75485322e-03 9.96985347e-01 -2.15313701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.467719420999998 meters 0.05982806527733831 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.56, Z:-2.16 [[ 9.91935703e-01 9.99545616e-02 7.79271943e-02 2.10156353e+01] [-9.98584015e-02 9.94988384e-01 -5.13959256e-03 -5.64558267e-01] [-7.80503789e-02 -2.68353971e-03 9.96945804e-01 -2.15563571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.497719421 meters 0.05768906048771815 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.58, Z:-2.16 [[ 9.92320833e-01 9.65793366e-02 7.72774011e-02 2.10431955e+01] [-9.64750430e-02 9.95322386e-01 -5.09050281e-03 -5.82415797e-01] [-7.74075646e-02 -2.40392860e-03 9.96996635e-01 -2.15971309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.527719421 meters 0.05789063964363059 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.59, Z:-2.17 [[ 9.92767121e-01 9.24506964e-02 7.65918548e-02 2.10698553e+01] [-9.23364443e-02 9.95715113e-01 -5.03930455e-03 -5.91606834e-01] [-7.67295546e-02 -2.06936366e-03 9.97049795e-01 -2.16605668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.557719420999998 meters 0.056246198098978226 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.60, Z:-2.17 [[ 9.93176923e-01 8.98525885e-02 7.43378257e-02 2.10992530e+01] [-8.97383970e-02 9.95953408e-01 -4.88158888e-03 -6.00235485e-01] [-7.44756342e-02 -1.82267590e-03 9.97221168e-01 -2.16697577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.587719421 meters 0.056727052157992626 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.60, Z:-2.17 [[ 9.93534068e-01 8.69136457e-02 7.30484292e-02 2.11274126e+01] [-8.67956293e-02 9.96214601e-01 -4.79446669e-03 -6.02940797e-01] [-7.31886163e-02 -1.57681838e-03 9.97316870e-01 -2.17287287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.617719421 meters 0.05499538516029078 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.62, Z:-2.17 [[ 9.93865170e-01 8.33312641e-02 7.27181115e-02 2.11565288e+01] [-8.32051150e-02 9.96521038e-01 -4.76761439e-03 -6.16932378e-01] [-7.28624192e-02 -1.31215294e-03 9.97341138e-01 -2.17271373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.647719420999998 meters 0.05416696112297555 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.63, Z:-2.18 [[ 9.94007518e-01 8.04496450e-02 7.40061444e-02 2.11860581e+01] [-8.03113345e-02 9.96758039e-01 -4.84770847e-03 -6.26478784e-01] [-7.41562158e-02 -1.12487355e-03 9.97246003e-01 -2.17504813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.677719421 meters 0.05335585099674499 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.64, Z:-2.18 [[ 9.94279885e-01 7.64996130e-02 7.45340123e-02 2.12158287e+01] [-7.63487952e-02 9.97069254e-01 -4.87483142e-03 -6.40641118e-01] [-7.46884948e-02 -8.43635215e-04 9.97206557e-01 -2.17980770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.707719421 meters 0.05255908335067713 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.65, Z:-2.18 [[ 9.94498255e-01 7.41144898e-02 7.40287970e-02 2.12481161e+01] [-7.39577058e-02 9.97249533e-01 -4.86068921e-03 -6.47152064e-01] [-7.41854308e-02 -6.41053054e-04 9.97244258e-01 -2.18076918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.737719421 meters 0.052595941984317544 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.65, Z:-2.18 [[ 9.94812433e-01 7.11643652e-02 7.26901442e-02 2.12798734e+01] [-7.10037742e-02 9.97464525e-01 -4.79421853e-03 -6.51578926e-01] [-7.28470177e-02 -3.91926385e-04 9.97343050e-01 -2.18468375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.767719421 meters 0.05299161636083606 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.66, Z:-2.19 [[ 9.95255971e-01 6.81057359e-02 6.94777686e-02 2.13109580e+01] [-6.79501975e-02 9.97678099e-01 -4.60235431e-03 -6.59305201e-01] [-6.96298949e-02 -1.40507489e-04 9.97572884e-01 -2.19183640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.797719421 meters 0.05385797767616695 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.67, Z:-2.20 [[ 9.95497402e-01 6.71319711e-02 6.69195068e-02 2.13410802e+01] [-6.69842364e-02 9.97744103e-01 -4.45154210e-03 -6.65931507e-01] [-6.70673841e-02 -5.10534713e-05 9.97748447e-01 -2.20262362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.827719421 meters 0.054313758352210945 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.67, Z:-2.21 [[ 9.95707958e-01 6.65032178e-02 6.43660242e-02 2.13719710e+01] [-6.63641119e-02 9.97786211e-01 -4.29915314e-03 -6.71997375e-01] [-6.45094389e-02 9.10696594e-06 9.97917097e-01 -2.20967562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.857719421 meters 0.05436470833798809 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.68, Z:-2.21 [[ 9.95969768e-01 6.51432823e-02 6.16487938e-02 2.14035248e+01] [-6.50122153e-02 9.97875915e-01 -4.13165294e-03 -6.77252021e-01] [-6.17869960e-02 1.07076763e-04 9.98089353e-01 -2.21147398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.887719421 meters 0.053545686664969026 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.68, Z:-2.21 [[ 9.95662413e-01 6.75976283e-02 6.39290291e-02 2.14360669e+01] [-6.74606318e-02 9.97712664e-01 -4.30155799e-03 -6.76383068e-01] [-6.40735770e-02 -2.97930821e-05 9.97945177e-01 -2.20813712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.917719421 meters 0.05313137244888206 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.68, Z:-2.21 [[ 9.95382521e-01 6.88747461e-02 6.68573577e-02 2.14685645e+01] [-6.87262990e-02 9.97625311e-01 -4.52056825e-03 -6.77737119e-01] [-6.70099452e-02 -9.51641342e-05 9.97752303e-01 -2.20888175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.947719421 meters 0.05350633099667507 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.68, Z:-2.22 [[ 9.94928071e-01 7.07140306e-02 7.15378214e-02 2.14992026e+01] [-7.05464848e-02 9.97496609e-01 -4.86914065e-03 -6.76924118e-01] [-7.17030508e-02 -2.02297112e-04 9.97426003e-01 -2.21551744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.977719421 meters 0.05329469540541391 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.68, Z:-2.22 [[ 9.94762726e-01 7.14496663e-02 7.30894258e-02 2.15313164e+01] [-7.12769722e-02 9.97444172e-01 -4.97169200e-03 -6.79481552e-01] [-7.32578475e-02 -2.63939085e-04 9.97312999e-01 -2.21810971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.007719421 meters 0.05360357292274913 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.69, Z:-2.23 [[ 9.94748481e-01 7.18123783e-02 7.29276450e-02 2.15626290e+01] [-7.16400592e-02 9.97418121e-01 -4.97928318e-03 -6.85545016e-01] [-7.30969289e-02 -2.71406422e-04 9.97324804e-01 -2.22521561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.037719421 meters 0.05288921301635792 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.69, Z:-2.22 [[ 9.94830313e-01 7.17712534e-02 7.18438333e-02 2.15945947e+01] [-7.16025316e-02 9.97421088e-01 -4.92446977e-03 -6.90608213e-01] [-7.20119897e-02 -2.45188534e-04 9.97403736e-01 -2.22290038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.067719421 meters 0.05299862529090868 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.69, Z:-2.23 [[ 9.94894073e-01 7.17018118e-02 7.10255889e-02 2.16267084e+01] [-7.15352648e-02 9.97426089e-01 -4.88903729e-03 -6.94216457e-01] [-7.11933282e-02 -2.16760092e-04 9.97462512e-01 -2.22806090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.097719421 meters 0.05296823614198865 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.70, Z:-2.23 [[ 9.95196197e-01 6.84645095e-02 6.99795679e-02 2.16568851e+01] [-6.82931167e-02 9.97653552e-01 -4.84157141e-03 -7.01931319e-01] [-7.01468403e-02 3.91906658e-05 9.97536676e-01 -2.23078824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.127719421 meters 0.052845460181052434 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.71, Z:-2.23 [[ 9.95208351e-01 6.69867087e-02 7.12258372e-02 2.16885754e+01] [-6.68049189e-02 9.97753856e-01 -4.93407733e-03 -7.09472444e-01] [-7.13963713e-02 1.52198687e-04 9.97448011e-01 -2.23285998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.157719421 meters 0.0526681828190654 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.71, Z:-2.24 [[ 9.95141334e-01 6.68100625e-02 7.23197118e-02 2.17198469e+01] [-6.66205905e-02 9.97765694e-01 -5.03161616e-03 -7.14993017e-01] [-7.24942900e-02 1.89187310e-04 9.97368809e-01 -2.23502487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.187719421 meters 0.051609061522014305 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.72, Z:-2.23 [[ 9.94880527e-01 6.56189946e-02 7.68562527e-02 2.17516344e+01] [-6.53993764e-02 9.97844700e-01 -5.37366564e-03 -7.23114553e-01] [-7.70432189e-02 3.19804305e-04 9.97027703e-01 -2.23057418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.217719420999998 meters 0.05143509438988889 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.73, Z:-2.23 [[ 9.94844362e-01 6.49793718e-02 7.78612673e-02 2.17839934e+01] [-6.47515097e-02 9.97886535e-01 -5.45028159e-03 -7.27281207e-01] [-7.80508661e-02 3.80547301e-04 9.96949305e-01 -2.23308038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.247719421 meters 0.051986588135472626 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.73, Z:-2.24 [[ 9.95144647e-01 6.21442760e-02 7.63231364e-02 2.18148141e+01] [-6.19167446e-02 9.98067000e-01 -5.34614026e-03 -7.32555176e-01] [-7.65078358e-02 5.94502713e-04 9.97068803e-01 -2.23926245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.277719421 meters 0.05233307784619833 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.74, Z:-2.24 [[ 9.95538321e-01 5.79015442e-02 7.45041052e-02 2.18464903e+01] [-5.76714529e-02 9.98321876e-01 -5.23778924e-03 -7.35985974e-01] [-7.46823542e-02 9.17659912e-04 9.97206951e-01 -2.24116966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.307719420999998 meters 0.05301280391147245 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.74, Z:-2.25 [[ 9.95610964e-01 5.65726166e-02 7.45543207e-02 2.18773472e+01] [-5.63369228e-02 9.98397946e-01 -5.26228664e-03 -7.39089224e-01] [-7.47325820e-02 1.03902926e-03 9.97203069e-01 -2.24605246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.337719421 meters 0.05336667172579333 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.74, Z:-2.25 [[ 9.95637859e-01 5.56199108e-02 7.49111405e-02 2.19090528e+01] [-5.53777414e-02 9.98451368e-01 -5.30762396e-03 -7.41954049e-01] [-7.50903403e-02 1.13606160e-03 9.97176088e-01 -2.25067354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.367719421 meters 0.05294735387980135 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.74, Z:-2.25 [[ 9.95538925e-01 5.54042697e-02 7.63715618e-02 2.19414314e+01] [-5.51500330e-02 9.98463283e-01 -5.43558945e-03 -7.41154094e-01] [-7.65553553e-02 1.19944672e-03 9.97064611e-01 -2.25194897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.397719420999998 meters 0.05350602276532794 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.74, Z:-2.26 [[ 9.95622707e-01 5.43372848e-02 7.60452856e-02 2.19724913e+01] [-5.40803616e-02 9.98521794e-01 -5.43527569e-03 -7.39934784e-01] [-7.62282131e-02 1.29892735e-03 9.97089551e-01 -2.25731081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.427719421 meters 0.053846213026753784 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.74, Z:-2.26 [[ 9.95695519e-01 5.31689926e-02 7.59176575e-02 2.20044717e+01] [-5.29080214e-02 9.98584539e-01 -5.44608532e-03 -7.41202954e-01] [-7.60997618e-02 1.40598970e-03 9.97099217e-01 -2.26176746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.457719421 meters 0.05398037661408829 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.74, Z:-2.26 [[ 9.95819694e-01 5.23868026e-02 7.48248627e-02 2.20367341e+01] [-5.21295156e-02 9.98625793e-01 -5.38877099e-03 -7.38539834e-01] [-7.50043384e-02 1.46566044e-03 9.97182130e-01 -2.26419863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.487719421 meters 0.05326737673073832 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.73, Z:-2.26 [[ 9.95662439e-01 5.42781561e-02 7.55657994e-02 2.20698201e+01] [-5.40195338e-02 9.98524931e-01 -5.46373211e-03 -7.34909612e-01] [-7.57508960e-02 1.35800358e-03 9.97125848e-01 -2.26496913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.517719421 meters 0.05199686788563695 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.72, Z:-2.27 [[ 9.95090485e-01 6.29285567e-02 7.63866763e-02 2.21024605e+01] [-6.26874581e-02 9.98017762e-01 -5.55233323e-03 -7.20904425e-01] [-7.65846600e-02 7.36587393e-04 9.97062810e-01 -2.26672624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.547719421 meters 0.05211877262932605 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.71, Z:-2.27 [[ 9.94389909e-01 7.53620529e-02 7.42244552e-02 2.21349066e+01] [-7.51693039e-02 9.97156213e-01 -5.39097321e-03 -7.07919311e-01] [-7.44196514e-02 -2.18671264e-04 9.97226989e-01 -2.27323747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.577719421 meters 0.052669188921180214 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.71, Z:-2.28 [[ 9.94086250e-01 8.04429093e-02 7.29483827e-02 2.21669608e+01] [-8.02688228e-02 9.96759056e-01 -5.31972478e-03 -7.05674570e-01] [-7.31398952e-02 -5.67215551e-04 9.97321530e-01 -2.27948616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.607719421 meters 0.05427200567373066 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.70, Z:-2.28 [[ 9.93420649e-01 8.87871651e-02 7.23343173e-02 2.21972081e+01] [-8.86358479e-02 9.96049968e-01 -5.30552231e-03 -6.95209294e-01] [-7.25196567e-02 -1.14079814e-03 9.97366331e-01 -2.28438226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.637719421 meters 0.05418630063943734 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.69, Z:-2.28 [[ 9.93119245e-01 9.10456332e-02 7.36536282e-02 2.22266609e+01] [-9.08947333e-02 9.95845838e-01 -5.40510980e-03 -6.91411665e-01] [-7.38397707e-02 -1.32680832e-03 9.97269235e-01 -2.28470618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.667719421 meters 0.054728919784305004 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.69, Z:-2.28 [[ 9.92821889e-01 9.41956993e-02 7.37012061e-02 2.22566062e+01] [-9.40537337e-02 9.95552465e-01 -5.40228755e-03 -6.85188093e-01] [-7.38822896e-02 -1.56836429e-03 9.97265736e-01 -2.28396986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.697719421 meters 0.055425307679842634 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.69, Z:-2.29 [[ 9.92776598e-01 9.50625677e-02 7.31965457e-02 2.22851257e+01] [-9.49253573e-02 9.95469968e-01 -5.35896890e-03 -6.86142318e-01] [-7.33744003e-02 -1.62794933e-03 9.97303137e-01 -2.28832300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.727719421 meters 0.055648804971832756 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.69, Z:-2.29 [[ 9.92994607e-01 9.46888333e-02 7.06805167e-02 2.23132375e+01] [-9.45603581e-02 9.95505711e-01 -5.16901486e-03 -6.89907169e-01] [-7.08523060e-02 -1.55077109e-03 9.97485612e-01 -2.29440010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.757719421 meters 0.05529034672740012 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.70, Z:-2.30 [[ 9.93636921e-01 9.02838343e-02 6.73386778e-02 2.23407556e+01] [-9.01575346e-02 9.95915372e-01 -4.91846991e-03 -6.99718518e-01] [-6.75076826e-02 -1.18391587e-03 9.97718052e-01 -2.30310597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.787719421 meters 0.05287740557593554 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.71, Z:-2.30 [[ 9.94210279e-01 8.11287186e-02 7.04560265e-02 2.23703108e+01] [-8.09679118e-02 9.96703455e-01 -5.13999989e-03 -7.09673065e-01] [-7.06407667e-02 -5.94436615e-04 9.97501643e-01 -2.30093789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.817719421 meters 0.051939886765251915 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.72, Z:-2.30 [[ 9.94330433e-01 7.63402440e-02 7.40213285e-02 2.24009524e+01] [-7.61496541e-02 9.97081789e-01 -5.39774772e-03 -7.15191090e-01] [-7.42173840e-02 -2.69553733e-04 9.97242050e-01 -2.29969743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.847719421 meters 0.0513344754995096 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.73, Z:-2.30 [[ 9.94459489e-01 6.65763550e-02 8.13505621e-02 2.24306694e+01] [-6.63136807e-02 9.97781207e-01 -5.92948300e-03 -7.30012928e-01] [-8.15648254e-02 5.01975434e-04 9.96667912e-01 -2.29759073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.877719421 meters 0.051778217219763584 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.74, Z:-2.30 [[ 9.94606478e-01 6.21408804e-02 8.30449519e-02 2.24629774e+01] [-6.18510842e-02 9.98066990e-01 -6.06024181e-03 -7.41294846e-01] [-8.32610140e-02 8.91135454e-04 9.96527375e-01 -2.30094096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.907719421 meters 0.05339393364807322 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.76, Z:-2.31 [[ 9.95308327e-01 5.25250195e-02 8.12555057e-02 2.24921709e+01] [-5.22128900e-02 9.98618175e-01 -5.96285530e-03 -7.58383056e-01] [-8.14564238e-02 1.69229475e-03 9.96675467e-01 -2.30612975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.937719421 meters 0.05393808724355616 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.76, Z:-2.31 [[ 9.95509362e-01 5.04477755e-02 8.01007636e-02 2.25238838e+01] [-5.01381137e-02 9.98725021e-01 -5.87377781e-03 -7.63798297e-01] [-8.02949558e-02 1.83129961e-03 9.96769465e-01 -2.31015131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.967719420999998 meters 0.05444479556746653 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.77, Z:-2.32 [[ 9.95808890e-01 5.27907597e-02 7.46846113e-02 2.25546801e+01] [-5.25266752e-02 9.98604391e-01 -5.49717413e-03 -7.65285108e-01] [-7.48705808e-02 1.55120055e-03 9.97192053e-01 -2.31778273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.997719421 meters 0.05444479556746653 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.77, Z:-2.32 [[ 9.95792058e-01 5.31092522e-02 7.46832305e-02 2.25870098e+01] [-5.28446610e-02 9.98587511e-01 -5.51585953e-03 -7.67919209e-01] [-7.48706844e-02 1.54603911e-03 9.97192053e-01 -2.32111578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.027719421 meters 0.053060454495432494 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.76, Z:-2.32 [[ 9.95714948e-01 5.74024262e-02 7.25031234e-02 2.26196943e+01] [-5.71627735e-02 9.98350388e-01 -5.37778779e-03 -7.64454734e-01] [-7.26922195e-02 1.21026407e-03 9.97353687e-01 -2.32242618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.057719420999998 meters 0.05162719859701613 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.76, Z:-2.32 [[ 9.94820718e-01 6.99396361e-02 7.37576132e-02 2.26521833e+01] [-6.97238034e-02 9.97551171e-01 -5.50020096e-03 -7.56181410e-01] [-7.39616755e-02 3.29052542e-04 9.97261030e-01 -2.32256842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.087719421 meters 0.05136237283818746 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.75, Z:-2.32 [[ 9.94142753e-01 7.68324781e-02 7.60062950e-02 2.26851727e+01] [-7.66234464e-02 9.97043998e-01 -5.66686259e-03 -7.53172760e-01] [-7.62170193e-02 -1.90193896e-04 9.97091234e-01 -2.32371284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.117719421 meters 0.0519800501403054 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.75, Z:-2.32 [[ 9.92910408e-01 8.78758055e-02 8.00422636e-02 2.27175622e+01] [-8.76771861e-02 9.96130874e-01 -5.99948271e-03 -7.45044623e-01] [-8.02597794e-02 -1.06093162e-03 9.96773416e-01 -2.32318646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.147719420999998 meters 0.05272899420542302 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.74, Z:-2.33 [[ 9.92500245e-01 9.21449446e-02 8.03279137e-02 2.27485869e+01] [-9.19584974e-02 9.95744611e-01 -6.02531391e-03 -7.42089915e-01] [-8.05412894e-02 -1.40670872e-03 9.96750281e-01 -2.32583390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.177719421 meters 0.05513596878044035 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.74, Z:-2.33 [[ 9.92205908e-01 9.87631264e-02 7.59821159e-02 2.27782924e+01] [-9.86156449e-02 9.95109274e-01 -5.69973170e-03 -7.36483729e-01] [-7.61734315e-02 -1.83771789e-03 9.97092890e-01 -2.33288414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.207719421 meters 0.05762867612910548 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.74, Z:-2.34 [[ 9.92197288e-01 1.02676062e-01 7.07260090e-02 2.28063635e+01] [-1.02558204e-01 9.94712857e-01 -5.30536533e-03 -7.36384790e-01] [-7.08968045e-02 -1.98956339e-03 9.97481671e-01 -2.34462120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.237719421 meters 0.05886184155235841 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.74, Z:-2.35 [[ 9.92080001e-01 1.04862481e-01 6.91457305e-02 2.28345314e+01] [-1.04755279e-01 9.94484515e-01 -5.18465526e-03 -7.36937575e-01] [-6.93080341e-02 -2.09978748e-03 9.97593097e-01 -2.34968151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.267719421 meters 0.060660443123164445 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.74, Z:-2.36 [[ 9.91948157e-01 1.08251170e-01 6.57308009e-02 2.28649178e+01] [-1.08162122e-01 9.94121082e-01 -4.92239780e-03 -7.36681492e-01] [-6.58772302e-02 -2.22681945e-03 9.97825251e-01 -2.35501446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.297719421 meters 0.060543108607568 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.74, Z:-2.36 [[ 9.92019296e-01 1.08098613e-01 6.49030468e-02 2.28938200e+01] [-1.08011260e-01 9.94137774e-01 -4.86356457e-03 -7.40737829e-01] [-6.50483150e-02 -2.18550994e-03 9.97879722e-01 -2.35739272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.327719421 meters 0.057944022105675445 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.75, Z:-2.35 [[ 9.92005522e-01 1.05557138e-01 6.91573269e-02 2.29237353e+01] [-1.05452394e-01 9.94410893e-01 -5.17385248e-03 -7.52683019e-01] [-6.93169362e-02 -2.16031549e-03 9.97592349e-01 -2.35420883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.357719421 meters 0.05714084165610367 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.76, Z:-2.35 [[ 9.91888492e-01 1.04044244e-01 7.30206441e-02 2.29533642e+01] [-1.03923469e-01 9.94570300e-01 -5.46176717e-03 -7.58492029e-01] [-7.31924294e-02 -2.17109463e-03 9.97315474e-01 -2.35347626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.387719421 meters 0.054123533026742734 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.77, Z:-2.35 [[ 9.91919552e-01 9.76867852e-02 8.09499478e-02 2.29834798e+01] [-9.75176334e-02 9.95215408e-01 -6.04999187e-03 -7.68766066e-01] [-8.11536396e-02 -1.89294211e-03 9.96699806e-01 -2.34735949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.417719421 meters 0.053050166902102555 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.78, Z:-2.35 [[ 9.92279577e-01 9.31740311e-02 8.18525568e-02 2.30131591e+01] [-9.29857011e-02 9.95648647e-01 -6.11814606e-03 -7.75464037e-01] [-8.20664397e-02 -1.54020599e-03 9.96625671e-01 -2.34960126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.447719421 meters 0.05165995982156977 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.80, Z:-2.36 [[ 9.93572727e-01 8.20671209e-02 7.79629654e-02 2.30435564e+01] [-8.18630655e-02 9.96626621e-01 -5.81517349e-03 -7.95120412e-01] [-7.81772013e-02 -6.04489560e-04 9.96939296e-01 -2.35876180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.477719421 meters 0.051736909544651065 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.82, Z:-2.37 [[ 9.94785529e-01 7.07336883e-02 7.34744664e-02 2.30730760e+01] [-7.05200617e-02 9.97495193e-01 -5.50092091e-03 -8.16365532e-01] [-7.36795275e-02 2.90812604e-04 9.97281927e-01 -2.36830352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.507719421 meters 0.05220927911773434 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.83, Z:-2.37 [[ 9.95163725e-01 6.59381766e-02 7.28101402e-02 2.31045353e+01] [-6.57141147e-02 9.97823492e-01 -5.47119426e-03 -8.25879815e-01] [-7.30124289e-02 6.60080166e-04 9.97330812e-01 -2.37332051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.537719421 meters 0.05342166317621021 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.83, Z:-2.38 [[ 9.95718754e-01 6.17887765e-02 6.87481578e-02 2.31332182e+01] [-6.15771623e-02 9.98088806e-01 -5.19506080e-03 -8.34062801e-01] [-6.89377631e-02 9.39503005e-04 9.97620520e-01 -2.38116937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.567719421 meters 0.05364568630622257 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.84, Z:-2.39 [[ 9.95773834e-01 6.28205458e-02 6.69929172e-02 2.31652400e+01] [-6.26226332e-02 9.98024489e-01 -5.05222997e-03 -8.35663839e-01] [-6.71779558e-02 8.35605529e-04 9.97740660e-01 -2.38536025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.597719421 meters 0.05321854230116942 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.83, Z:-2.39 [[ 9.95375875e-01 7.00471735e-02 6.57286981e-02 2.31962159e+01] [-6.98711202e-02 9.97543615e-01 -4.97626269e-03 -8.31535804e-01] [-6.59158162e-02 3.60714058e-04 9.97825122e-01 -2.38955305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.627719421 meters 0.05272472746233175 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.83, Z:-2.39 [[ 9.94969157e-01 7.48861065e-02 6.65465758e-02 2.32293451e+01] [-7.47149900e-02 9.97192091e-01 -5.05995276e-03 -8.29211563e-01] [-6.67386393e-02 6.24701909e-05 9.97770490e-01 -2.39009765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.657719421 meters 0.052776321720120416 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.82, Z:-2.39 [[ 9.93908179e-01 8.48264199e-02 7.03634165e-02 2.32618007e+01] [-8.46587602e-02 9.96395549e-01 -5.36689454e-03 -8.19627935e-01] [-7.05650495e-02 -6.22679222e-04 9.97506985e-01 -2.38856659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.687719421 meters 0.053071836084410566 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.82, Z:-2.39 [[ 9.93308752e-01 8.99517189e-02 7.24321142e-02 2.32934663e+01] [-8.97873663e-02 9.95945613e-01 -5.52853018e-03 -8.15492051e-01] [-7.26357472e-02 -1.01195135e-03 9.97358022e-01 -2.38762417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.717719420999998 meters 0.05491997499870052 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.81, Z:-2.39 [[ 9.92429108e-01 9.84727680e-02 7.34001382e-02 2.33237037e+01] [-9.83269746e-02 9.95138372e-01 -5.60596188e-03 -8.06194576e-01] [-7.35953286e-02 -1.65369378e-03 9.97286816e-01 -2.38915998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.747719421 meters 0.057010137810394886 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.80, Z:-2.39 [[ 9.91941086e-01 1.03743065e-01 7.27341647e-02 2.33518596e+01] [-1.03614260e-01 9.94602061e-01 -5.55205922e-03 -8.02323605e-01] [-7.29175378e-02 -2.02898104e-03 9.97335909e-01 -2.39488876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.777719421 meters 0.05711967147277804 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.80, Z:-2.40 [[ 9.91749838e-01 1.05318045e-01 7.30778247e-02 2.33801735e+01] [-1.05192459e-01 9.94436250e-01 -5.57594025e-03 -8.04376825e-01] [-7.32584851e-02 -2.15729825e-03 9.97310654e-01 -2.39775854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.807719420999998 meters 0.05784048933697917 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.80, Z:-2.40 [[ 9.91630349e-01 1.05913935e-01 7.38341952e-02 2.34080090e+01] [-1.05787813e-01 9.94372800e-01 -5.62788422e-03 -8.04937969e-01] [-7.40147868e-02 -2.22997725e-03 9.97254651e-01 -2.40080120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.837719421 meters 0.056980233786760294 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.81, Z:-2.40 [[ 9.91611700e-01 1.06204680e-01 7.36668346e-02 2.34371758e+01] [-1.06080619e-01 9.94341731e-01 -5.60581194e-03 -8.08411338e-01] [-7.38453712e-02 -2.25583467e-03 9.97267152e-01 -2.40070054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.867719421 meters 0.05709639001576225 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.81, Z:-2.40 [[ 9.91432024e-01 1.06703172e-01 7.53456978e-02 2.34658028e+01] [-1.06575356e-01 9.94288137e-01 -5.72663761e-03 -8.09866527e-01] [-7.55263839e-02 -2.35242264e-03 9.97141029e-01 -2.40138372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.897719420999998 meters 0.057293142352197304 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.81, Z:-2.40 [[ 9.91453200e-01 1.06928571e-01 7.47451267e-02 2.34937415e+01] [-1.06803868e-01 9.94263912e-01 -5.67504775e-03 -8.13294807e-01] [-7.49232068e-02 -2.35652440e-03 9.97186522e-01 -2.40490745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.927719421 meters 0.05687605124409836 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.82, Z:-2.41 [[ 9.91789154e-01 1.05385471e-01 7.24442964e-02 2.35213655e+01] [-1.05264825e-01 9.94429060e-01 -5.49199454e-03 -8.22219818e-01] [-7.26194899e-02 -2.17893554e-03 9.97357339e-01 -2.41087993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.957719421 meters 0.05657053999710883 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.83, Z:-2.42 [[ 9.92712283e-01 9.82859164e-02 6.97294931e-02 2.35484634e+01] [-9.81572105e-02 9.95156924e-01 -5.27813515e-03 -8.33086986e-01] [-6.99105542e-02 -1.60478294e-03 9.97551973e-01 -2.42224037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.987719421 meters 0.05433839893292694 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.84, Z:-2.42 [[ 9.92979596e-01 9.51151786e-02 7.03180292e-02 2.35777781e+01] [-9.49764242e-02 9.95465298e-01 -5.32165464e-03 -8.44369696e-01] [-7.05053280e-02 -1.39426050e-03 9.97510428e-01 -2.42118522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.017719421 meters 0.05356890459995473 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.86, Z:-2.43 [[ 9.93455087e-01 9.02441716e-02 7.00212789e-02 2.36070547e+01] [-9.00948638e-02 9.95919118e-01 -5.29403399e-03 -8.56699156e-01] [-7.02132860e-02 -1.04917258e-03 9.97531450e-01 -2.42615111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.047719421 meters 0.05324316152002274 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.86, Z:-2.43 [[ 9.93715184e-01 8.89556421e-02 6.79487008e-02 2.36381415e+01] [-8.88125421e-02 9.96035148e-01 -5.12996591e-03 -8.64300443e-01] [-6.81356337e-02 -9.36971831e-04 9.97675627e-01 -2.42912140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.077719421 meters 0.05309746520126022 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.88, Z:-2.44 [[ 9.93907600e-01 8.73698608e-02 6.71877260e-02 2.36685302e+01] [-8.72251800e-02 9.96175619e-01 -5.08955962e-03 -8.75571191e-01] [-6.73754487e-02 -8.01909506e-04 9.97727371e-01 -2.43562262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.107719421 meters 0.05258451015813193 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.88, Z:-2.44 [[ 9.93816889e-01 8.74736987e-02 6.83837958e-02 2.37003998e+01] [-8.73224742e-02 9.96166508e-01 -5.20327018e-03 -8.82844185e-01] [-6.85767963e-02 -8.00344460e-04 9.97645519e-01 -2.43697937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.137719421 meters 0.05177337339397732 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.89, Z:-2.44 [[ 9.93495298e-01 8.73148855e-02 7.30972201e-02 2.37310569e+01] [-8.71393466e-02 9.96180431e-01 -5.59322356e-03 -8.91628518e-01] [-7.33063919e-02 -8.12802695e-04 9.97309136e-01 -2.43567864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.167719421 meters 0.0508454425550366 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.90, Z:-2.43 [[ 9.93486967e-01 8.63724164e-02 7.43199317e-02 2.37634364e+01] [-8.61886327e-02 9.96262630e-01 -5.68255945e-03 -8.97210258e-01] [-7.45329870e-02 -7.59984537e-04 9.97218259e-01 -2.43417681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.197719421 meters 0.05084985892209917 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.90, Z:-2.44 [[ 9.94009216e-01 8.16397409e-02 7.26679456e-02 2.37942201e+01] [-8.14498514e-02 9.96661835e-01 -5.57757584e-03 -9.03907997e-01] [-7.28807198e-02 -3.74631584e-04 9.97340594e-01 -2.44073593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.227719421 meters 0.05083503487768316 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.92, Z:-2.45 [[ 9.94738779e-01 7.38753278e-02 7.09732224e-02 2.38243719e+01] [-7.36726872e-02 9.97267462e-01 -5.47222885e-03 -9.21098521e-01] [-7.11835481e-02 2.14650231e-04 9.97463211e-01 -2.44632040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.257719421 meters 0.051017828400598264 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.93, Z:-2.45 [[ 9.94997123e-01 6.91838386e-02 7.20716402e-02 2.38560849e+01] [-6.89608228e-02 9.97603757e-01 -5.58107201e-03 -9.32353920e-01] [-7.22850590e-02 5.83030989e-04 9.97383843e-01 -2.44988335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.287719421 meters 0.05166077303833727 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.94, Z:-2.45 [[ 9.95319345e-01 6.39636209e-02 7.24434693e-02 2.38866609e+01] [-6.37240511e-02 9.97951756e-01 -5.61578486e-03 -9.42818026e-01] [-7.26542934e-02 9.73107960e-04 9.97356710e-01 -2.45334185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.317719421 meters 0.053445284531769846 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.95, Z:-2.45 [[ 9.95653155e-01 5.58315092e-02 7.45495615e-02 2.39174888e+01] [-5.55543749e-02 9.98438889e-01 -5.78757761e-03 -9.52831014e-01] [-7.47563105e-02 1.62086562e-03 9.97200515e-01 -2.45318797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.347719421 meters 0.053468184288302974 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.96, Z:-2.45 [[ 9.95427613e-01 5.40680082e-02 7.87433671e-02 2.39497874e+01] [-5.37515776e-02 9.98535498e-01 -6.13411613e-03 -9.55997993e-01] [-7.89597067e-02 1.87348838e-03 9.96876048e-01 -2.45119945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.377719421 meters 0.05183083804273505 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.95, Z:-2.45 [[ 9.95198513e-01 5.53164471e-02 8.07465842e-02 2.39830017e+01] [-5.49859576e-02 9.98467174e-01 -6.31250621e-03 -9.54886244e-01] [-8.09719991e-02 1.84226854e-03 9.96714674e-01 -2.44823507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.407719421 meters 0.05119407067579768 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.96, Z:-2.45 [[ 9.94946400e-01 5.81035581e-02 8.18879621e-02 2.40142633e+01] [-5.77709347e-02 9.98309174e-01 -6.42746006e-03 -9.55976186e-01] [-8.21229621e-02 1.66423414e-03 9.96620815e-01 -2.45086976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.437719421 meters 0.05086239020923815 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.96, Z:-2.46 [[ 9.95020699e-01 6.02685751e-02 7.93820300e-02 2.40457665e+01] [-5.99610137e-02 9.98181124e-01 -6.25461748e-03 -9.55092217e-01] [-7.96146009e-02 1.46364687e-03 9.96824645e-01 -2.45585964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.467719420999998 meters 0.05003736631466689 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.94, Z:-2.46 [[ 9.94735653e-01 6.82337235e-02 7.64535094e-02 2.40773876e+01] [-6.79712478e-02 9.97669039e-01 -6.03307555e-03 -9.44653758e-01] [-7.66869585e-02 8.04674918e-04 9.97054895e-01 -2.46371972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.497719421 meters 0.04984877163414057 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.94, Z:-2.47 [[ 9.94481985e-01 7.39159447e-02 7.44447099e-02 2.41104570e+01] [-7.36816576e-02 9.97264405e-01 -5.89241906e-03 -9.38878962e-01] [-7.46766030e-02 3.74694973e-04 9.97207734e-01 -2.46846385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.527719421 meters 0.05040662242469754 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.93, Z:-2.47 [[ 9.93742892e-01 8.46356727e-02 7.28825649e-02 2.41430072e+01] [-8.44380612e-02 9.96411886e-01 -5.79380259e-03 -9.27783405e-01] [-7.31114163e-02 -3.96512327e-04 9.97323701e-01 -2.47363450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.557719420999998 meters 0.050978051129006725 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.93, Z:-2.48 [[ 9.93372728e-01 8.92095718e-02 7.24725871e-02 2.41748165e+01] [-8.90247525e-02 9.96012626e-01 -5.78285831e-03 -9.26486398e-01] [-7.26994982e-02 -7.07320394e-04 9.97353640e-01 -2.47809467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.587719421 meters 0.05261224975246682 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.92, Z:-2.48 [[ 9.92726551e-01 9.60738519e-02 7.25521235e-02 2.42062880e+01] [-9.59052412e-02 9.95373499e-01 -5.81219150e-03 -9.20965843e-01] [-7.27748606e-02 -1.18821208e-03 9.97347687e-01 -2.48438164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.617719421 meters 0.05419112329932774 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.91, Z:-2.49 [[ 9.92342147e-01 1.01288902e-01 7.06938635e-02 2.42375320e+01] [-1.01140042e-01 9.94855920e-01 -5.69125926e-03 -9.14265564e-01] [-7.09066700e-02 -1.50230393e-03 9.97481823e-01 -2.48744261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.647719420999998 meters 0.05453351263448732 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.91, Z:-2.49 [[ 9.92208333e-01 1.03732946e-01 6.90079695e-02 2.42673751e+01] [-1.03596902e-01 9.94603842e-01 -5.55699124e-03 -9.14004601e-01] [-6.92120346e-02 -1.63531885e-03 9.97600632e-01 -2.48931084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.677719421 meters 0.05747595617975478 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.91, Z:-2.50 [[ 9.91684391e-01 1.09497310e-01 6.76195818e-02 2.42969204e+01] [-1.09380302e-01 9.93985080e-01 -5.44153209e-03 -9.10362783e-01] [-6.78086885e-02 -1.99996785e-03 9.97696338e-01 -2.49619795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.707719421 meters 0.058325233174523275 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.91, Z:-2.50 [[ 9.91435917e-01 1.11248078e-01 6.84009299e-02 2.43252473e+01] [-1.11132466e-01 9.93790355e-01 -5.50501775e-03 -9.11433100e-01] [-6.85886070e-02 -2.14369171e-03 9.97642725e-01 -2.49914390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.737719420999998 meters 0.05764256919173607 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.91, Z:-2.50 [[ 9.91251950e-01 1.10273383e-01 7.25214000e-02 2.43547513e+01] [-1.10141408e-01 9.93898836e-01 -5.82865282e-03 -9.14857572e-01] [-7.27216803e-02 -2.20994563e-03 9.97349825e-01 -2.49740211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.767719421 meters 0.056287674729191904 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.92, Z:-2.50 [[ 9.91293163e-01 1.08110532e-01 7.51663286e-02 2.43843689e+01] [-1.07962805e-01 9.94136599e-01 -6.03789807e-03 -9.19721311e-01] [-7.53783586e-02 -2.12984057e-03 9.97152730e-01 -2.49809660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.797719421 meters 0.05426627230316355 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.93, Z:-2.50 [[ 9.91539073e-01 1.04795593e-01 7.66038563e-02 2.44138618e+01] [-1.04632579e-01 9.94491934e-01 -6.14957596e-03 -9.29578032e-01] [-7.68263656e-02 -1.91771421e-03 9.97042643e-01 -2.49895422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.827719421 meters 0.05339154775053051 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.94, Z:-2.50 [[ 9.91751021e-01 1.02688957e-01 7.67130333e-02 2.44432694e+01] [-1.02519359e-01 9.94711960e-01 -6.15612670e-03 -9.37508825e-01] [-7.69395380e-02 -1.75922605e-03 9.97034208e-01 -2.50296898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.857719421 meters 0.05159259960639259 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.95, Z:-2.51 [[ 9.92736374e-01 9.45256615e-02 7.44270875e-02 2.44738561e+01] [-9.43432377e-02 9.95521824e-01 -5.97087969e-03 -9.50066035e-01] [-7.46581913e-02 -1.09418296e-03 9.97208583e-01 -2.50776967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.887719421 meters 0.05010396307766905 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.97, Z:-2.51 [[ 9.93733045e-01 8.34965191e-02 7.43166671e-02 2.45052915e+01] [-8.32839543e-02 9.96508033e-01 -5.96009701e-03 -9.65223150e-01] [-7.45548031e-02 -2.66640551e-04 9.97216882e-01 -2.50956688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.917719421 meters 0.05010396307766905 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.97, Z:-2.51 [[ 9.93703763e-01 8.38458261e-02 7.43149238e-02 2.45375870e+01] [-8.36326181e-02 9.96478702e-01 -5.98174167e-03 -9.68073832e-01] [-7.45547829e-02 -2.71072427e-04 9.97216883e-01 -2.51289887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.947719421 meters 0.050285524947931 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.98, Z:-2.52 [[ 9.94180867e-01 7.81794538e-02 7.41105661e-02 2.45690393e+01] [-7.79497379e-02 9.96939286e-01 -5.99146500e-03 -9.79235613e-01] [-7.43521443e-02 1.79700672e-04 9.97232032e-01 -2.51785390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.977719421 meters 0.051012697249084506 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.99, Z:-2.52 [[ 9.94783740e-01 7.26401141e-02 7.16151189e-02 2.46001244e+01] [-7.24089922e-02 9.97358034e-01 -5.82158146e-03 -9.90780455e-01] [-7.18487945e-02 6.05635988e-04 9.97415352e-01 -2.52474664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.007719421 meters 0.05336542330566665 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.01, Z:-2.54 [[ 9.95859355e-01 6.38711021e-02 6.46887034e-02 2.46276609e+01] [-6.36636050e-02 9.97957522e-01 -5.26599167e-03 -1.00873269e+00] [-6.48929228e-02 1.12587100e-03 9.97891598e-01 -2.53708216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.037719421 meters 0.055276484778167996 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.02, Z:-2.54 [[ 9.96278491e-01 5.62872510e-02 6.52756681e-02 2.46573283e+01] [-5.60602626e-02 9.98413292e-01 -5.30527989e-03 -1.02277106e+00] [-6.54707142e-02 1.62616515e-03 9.97853166e-01 -2.54129020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.067719421 meters 0.055788034194774114 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.03, Z:-2.54 [[ 9.96216204e-01 5.37953087e-02 6.82593579e-02 2.46891745e+01] [-5.35398767e-02 9.98550192e-01 -5.56734002e-03 -1.02878339e+00] [-6.84598917e-02 1.89167674e-03 9.97652076e-01 -2.54080163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.097719421 meters 0.05599566043880019 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.03, Z:-2.54 [[ 9.96059413e-01 5.23893116e-02 7.15611984e-02 2.47214463e+01] [-5.21032762e-02 9.98624513e-01 -5.85920961e-03 -1.03176481e+00] [-7.17697268e-02 2.10754800e-03 9.97419002e-01 -2.54032647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.127719421 meters 0.0549873803530896 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.03, Z:-2.53 [[ 9.95533081e-01 5.30979877e-02 7.80672026e-02 2.47531131e+01] [-5.27570817e-02 9.98586711e-01 -6.42426976e-03 -1.02792669e+00] [-7.82979869e-02 2.27697528e-03 9.96927400e-01 -2.53468202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.157719421 meters 0.054036354624668104 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.02, Z:-2.54 [[ 9.95154232e-01 5.61502419e-02 8.07168250e-02 2.47839358e+01] [-5.57957938e-02 9.98420109e-01 -6.64186561e-03 -1.02358665e+00] [-8.09622436e-02 2.10602134e-03 9.96714944e-01 -2.53719077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.187719421 meters 0.0530975328238694 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.02, Z:-2.54 [[ 9.95090391e-01 5.91781174e-02 7.93288403e-02 2.48162103e+01] [-5.88457565e-02 9.98245775e-01 -6.52296115e-03 -1.02094871e+00] [-7.95756962e-02 1.82277034e-03 9.96827160e-01 -2.54224023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.217719420999998 meters 0.05251701832698101 Centerline is valid? [True, True] Translation: X:24.85, Y:-1.01, Z:-2.55 [[ 9.95063334e-01 6.47862763e-02 7.51777873e-02 2.48494547e+01] [-6.45023405e-02 9.97898287e-01 -6.20130188e-03 -1.01458781e+00] [-7.54215444e-02 1.32154489e-03 9.97150863e-01 -2.55140323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.247719421 meters 0.052231772039639364 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.01, Z:-2.56 [[ 9.94908206e-01 6.74051467e-02 7.49280154e-02 2.48809607e+01] [-6.71282201e-02 9.97725024e-01 -6.21108984e-03 -1.01165579e+00] [-7.51762154e-02 1.14967994e-03 9.97169602e-01 -2.55578115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.277719421 meters 0.051502783124269584 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.00, Z:-2.56 [[ 9.94438020e-01 7.24026830e-02 7.64910129e-02 2.49123380e+01] [-7.21276784e-02 9.97375158e-01 -6.35541025e-03 -9.99299011e-01] [-7.67503849e-02 8.02942409e-04 9.97050016e-01 -2.55675453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.307719420999998 meters 0.05114276368610923 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.00, Z:-2.56 [[ 9.94176316e-01 7.34008049e-02 7.89035788e-02 2.49453366e+01] [-7.31108021e-02 9.97302237e-01 -6.56192111e-03 -9.96497766e-01] [-7.91723659e-02 7.55002614e-04 9.96860655e-01 -2.55652903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.337719421 meters 0.0505440637779278 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.99, Z:-2.55 [[ 9.93628248e-01 7.43995908e-02 8.46617142e-02 2.49771461e+01] [-7.40665249e-02 9.97228223e-01 -7.07262309e-03 -9.92532519e-01] [-8.49532510e-02 7.56959130e-04 9.96384651e-01 -2.55460057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.367719421 meters 0.05041700689887418 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.99, Z:-2.56 [[ 9.93518245e-01 7.39428569e-02 8.63362642e-02 2.50091315e+01] [-7.35947585e-02 9.97262150e-01 -7.21223154e-03 -9.93299651e-01] [-8.66331814e-02 8.11587107e-04 9.96239948e-01 -2.55596276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.397719420999998 meters 0.051171297460201756 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.00, Z:-2.56 [[ 9.93827370e-01 7.05811525e-02 8.55889033e-02 2.50411235e+01] [-7.02244334e-02 9.97505411e-01 -7.17520213e-03 -9.96412559e-01] [-8.58818282e-02 1.12048002e-03 9.96304700e-01 -2.56244833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.427719421 meters 0.05191497556450469 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.00, Z:-2.57 [[ 9.94099951e-01 6.79743826e-02 8.45267495e-02 2.50725247e+01] [-6.76149878e-02 9.97686149e-01 -7.11069464e-03 -1.00021784e+00] [-8.48145122e-02 1.35346605e-03 9.96395838e-01 -2.56758823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.457719421 meters 0.052689035565462713 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.00, Z:-2.57 [[ 9.94264006e-01 6.35178791e-02 8.60497859e-02 2.51048773e+01] [-6.31264966e-02 9.97979094e-01 -7.26453980e-03 -1.00100842e+00] [-8.63373156e-02 1.79084892e-03 9.96264353e-01 -2.56944064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.487719420999998 meters 0.05261032060880664 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.00, Z:-2.57 [[ 9.94151658e-01 6.38557006e-02 8.70915076e-02 2.51371834e+01] [-6.34537582e-02 9.97957502e-01 -7.37863632e-03 -1.00007070e+00] [-8.73847914e-02 1.80920007e-03 9.96172990e-01 -2.57088374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.517719421 meters 0.05181060408868818 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.99, Z:-2.58 [[ 9.93783921e-01 7.01209610e-02 8.64671524e-02 2.51674053e+01] [-6.97458443e-02 9.97537676e-01 -7.35541532e-03 -9.93334881e-01] [-8.67700111e-02 1.27896893e-03 9.96227549e-01 -2.57674356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.547719421 meters 0.05115462065134079 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.98, Z:-2.59 [[ 9.93244457e-01 8.09042260e-02 8.31862653e-02 2.51986069e+01] [-8.05950680e-02 9.96721828e-01 -7.07332471e-03 -9.81280014e-01] [-8.34858283e-02 3.21137854e-04 9.96508913e-01 -2.58558701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.577719421 meters 0.05125433262298263 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.97, Z:-2.59 [[ 9.92758192e-01 8.68893642e-02 8.29542631e-02 2.52317296e+01] [-8.66010256e-02 9.96217954e-01 -7.07458600e-03 -9.74061498e-01] [-8.32552326e-02 -1.60571045e-04 9.96528244e-01 -2.58930145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.607719421 meters 0.0522157893175574 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.96, Z:-2.59 [[ 9.91683239e-01 9.81501098e-02 8.32520797e-02 2.52641796e+01] [-9.78964572e-02 9.95171040e-01 -7.13340780e-03 -9.58946131e-01] [-8.35502035e-02 -1.07600270e-03 9.96502988e-01 -2.58948906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.637719421 meters 0.05401628627223543 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.95, Z:-2.60 [[ 9.91204277e-01 1.02992300e-01 8.31063579e-02 2.52926429e+01] [-1.02756227e-01 9.94681055e-01 -7.12433224e-03 -9.52738792e-01] [-8.33980711e-02 -1.47802723e-03 9.96515217e-01 -2.59528435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.667719421 meters 0.055963932712609674 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.95, Z:-2.60 [[ 9.90099600e-01 1.12542764e-01 8.38862800e-02 2.53228291e+01] [-1.12336925e-01 9.93644198e-01 -7.18496714e-03 -9.49336953e-01] [-8.41617314e-02 -2.30969365e-03 9.96449431e-01 -2.59808644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.697719421 meters 0.05822669776460177 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.95, Z:-2.60 [[ 9.89557700e-01 1.18020709e-01 8.27446080e-02 2.53515765e+01] [-1.17839602e-01 9.93007358e-01 -7.08623505e-03 -9.49158688e-01] [-8.30023270e-02 -2.73835317e-03 9.96545591e-01 -2.60336912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.727719421 meters 0.058434979308305275 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.95, Z:-2.61 [[ 9.89333440e-01 1.19810791e-01 8.28536022e-02 2.53801246e+01] [-1.19635863e-01 9.92792517e-01 -7.09077729e-03 -9.51514444e-01] [-8.31059878e-02 -2.89711914e-03 9.96536503e-01 -2.60640185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.757719421 meters 0.059868612948340574 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.95, Z:-2.61 [[ 9.89253072e-01 1.20942746e-01 8.21657585e-02 2.54077099e+01] [-1.20775112e-01 9.92655031e-01 -7.02574003e-03 -9.51272881e-01] [-8.24119659e-02 -2.97334377e-03 9.96593913e-01 -2.60931977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.787719421 meters 0.060832159188129786 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.95, Z:-2.61 [[ 9.89341365e-01 1.20868839e-01 8.12058325e-02 2.54349635e+01] [-1.20705765e-01 9.92664122e-01 -6.93243376e-03 -9.54182795e-01] [-8.14480317e-02 -2.94346865e-03 9.96673243e-01 -2.61380373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.817719421 meters 0.05916058924814342 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.97, Z:-2.62 [[ 9.89861780e-01 1.18024089e-01 7.90187952e-02 2.54618663e+01] [-1.17861308e-01 9.93007211e-01 -6.73722411e-03 -9.70944765e-01] [-7.92613882e-02 -2.64433792e-03 9.96850360e-01 -2.61918702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.847719421 meters 0.05864825726660042 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.98, Z:-2.62 [[ 9.90029705e-01 1.15966068e-01 7.99565794e-02 2.54892501e+01] [-1.15793259e-01 9.93249989e-01 -6.81031016e-03 -9.80181280e-01] [-8.02066365e-02 -2.51602358e-03 9.96775082e-01 -2.62338561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.877719421 meters 0.05661162300137554 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.99, Z:-2.63 [[ 9.90457140e-01 1.11187147e-01 8.14375344e-02 2.55173527e+01] [-1.10992402e-01 9.93797103e-01 -6.92859216e-03 -9.94233098e-01] [-8.17027562e-02 -2.17647396e-03 9.96654365e-01 -2.62533864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.907719421 meters 0.055976983472025246 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.00, Z:-2.63 [[ 9.90671723e-01 1.09232657e-01 8.14724743e-02 2.55462467e+01] [-1.09031390e-01 9.94014160e-01 -6.92863976e-03 -9.99893734e-01] [-8.17416268e-02 -2.01904961e-03 9.96651509e-01 -2.62740843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.937719421 meters 0.05479167207561859 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.01, Z:-2.63 [[ 9.91224256e-01 1.04438840e-01 8.10370475e-02 2.55741238e+01] [-1.04224158e-01 9.94529991e-01 -6.88629391e-03 -1.01340925e+00] [-8.13129707e-02 -1.62015646e-03 9.96687301e-01 -2.63183781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.967719420999998 meters 0.05306811116656966 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.03, Z:-2.63 [[ 9.91460170e-01 1.02121454e-01 8.11045031e-02 2.56049234e+01] [-1.01899121e-01 9.94770900e-01 -6.88655160e-03 -1.02721185e+00] [-8.13836643e-02 -1.43673599e-03 9.96681812e-01 -2.63273169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.997719421 meters 0.052395491030419045 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.04, Z:-2.64 [[ 9.91817050e-01 9.71350681e-02 8.28475582e-02 2.56338074e+01] [-9.68851657e-02 9.95270662e-01 -7.04093424e-03 -1.04169929e+00] [-8.31396657e-02 -1.04338078e-03 9.96537359e-01 -2.63807807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.027719421 meters 0.051392696877094336 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.05, Z:-2.64 [[ 9.92041488e-01 9.56488200e-02 8.18840009e-02 2.56661794e+01] [-9.54000413e-02 9.95414723e-01 -6.95428442e-03 -1.05097281e+00] [-8.21737092e-02 -9.12798412e-04 9.96617604e-01 -2.63878711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.057719420999998 meters 0.05136852112896295 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.06, Z:-2.64 [[ 9.92409838e-01 9.30167028e-02 8.04400750e-02 2.56969312e+01] [-9.27657648e-02 9.95664333e-01 -6.85921436e-03 -1.05992974e+00] [-8.07293352e-02 -6.54933265e-04 9.96735845e-01 -2.64491367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.087719421 meters 0.051082699828791996 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.07, Z:-2.65 [[ 9.92720063e-01 9.11251688e-02 7.87596358e-02 2.57285813e+01] [-9.08766787e-02 9.95839338e-01 -6.74108729e-03 -1.06752088e+00] [-7.90462263e-02 -4.65401528e-04 9.96870843e-01 -2.64713657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.117719421 meters 0.051095418557825886 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.08, Z:-2.65 [[ 9.93256554e-01 8.65994960e-02 7.70840165e-02 2.57589290e+01] [-8.63460789e-02 9.96243204e-01 -6.62070583e-03 -1.08041974e+00] [-7.73677773e-02 -7.98431206e-05 9.97002618e-01 -2.65193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.147719420999998 meters 0.05085850863997253 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.09, Z:-2.65 [[ 9.93305171e-01 8.42066767e-02 7.90826915e-02 2.57903397e+01] [-8.39305788e-02 9.96448302e-01 -6.81466509e-03 -1.08919379e+00] [-7.93756539e-02 1.31586002e-04 9.96844766e-01 -2.65455112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.177719421 meters 0.05070328853376265 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.10, Z:-2.66 [[ 9.93371298e-01 8.08058056e-02 8.17550358e-02 2.58223465e+01] [-8.04968633e-02 9.96729764e-01 -7.07330161e-03 -1.09981245e+00] [-8.20592414e-02 4.45390856e-04 9.96627354e-01 -2.65506724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.207719421 meters 0.05081028522865443 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.10, Z:-2.66 [[ 9.93393970e-01 8.06625199e-02 8.16209404e-02 2.58537780e+01] [-8.03537422e-02 9.96741363e-01 -7.06616516e-03 -1.10344301e+00] [-8.19249421e-02 4.60937862e-04 9.96638396e-01 -2.65963678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.237719420999998 meters 0.051108823599400395 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.11, Z:-2.66 [[ 9.93604529e-01 7.97511919e-02 7.99361514e-02 2.58851732e+01] [-7.94500022e-02 9.96814649e-01 -6.94647335e-03 -1.10686146e+00] [-8.02355162e-02 5.51119973e-04 9.96775781e-01 -2.66326883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.267719421 meters 0.05143035030922205 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.11, Z:-2.67 [[ 9.93710647e-01 7.90634968e-02 7.92976248e-02 2.59153494e+01] [-7.87632249e-02 9.96869387e-01 -6.91224262e-03 -1.11257134e+00] [-7.95958807e-02 6.23032426e-04 9.96827020e-01 -2.66850774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.297719421 meters 0.05157213210889743 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.12, Z:-2.67 [[ 9.93805179e-01 7.65404370e-02 8.05780798e-02 2.59474540e+01] [-7.62203905e-02 9.97066108e-01 -7.04480303e-03 -1.11945456e+00] [-8.08808846e-02 8.59469037e-04 9.96723404e-01 -2.67083476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.327719421 meters 0.05239883613868621 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.12, Z:-2.67 [[ 9.94237654e-01 7.13865800e-02 7.99715196e-02 2.59800687e+01] [-7.10525896e-02 9.97447883e-01 -7.01791171e-03 -1.11951787e+00] [-8.02684076e-02 1.29528851e-03 9.96772444e-01 -2.67222856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.357719421 meters 0.05354772547401757 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.12, Z:-2.68 [[ 9.94556716e-01 6.75618438e-02 7.93242409e-02 2.60112783e+01] [-6.72192878e-02 9.97713783e-01 -6.98385151e-03 -1.12318352e+00] [-7.96147304e-02 1.61371745e-03 9.96824403e-01 -2.67576301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.387719421 meters 0.05652593043996 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.13, Z:-2.68 [[ 9.95230315e-01 5.82270953e-02 7.82702112e-02 2.60408102e+01] [-5.78626472e-02 9.98300583e-01 -6.91811732e-03 -1.13263305e+00] [-7.85400194e-02 2.35619846e-03 9.96908177e-01 -2.68181061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.417719421 meters 0.05838149121808407 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.14, Z:-2.68 [[ 9.95434744e-01 5.31420594e-02 7.92817259e-02 2.60717780e+01] [-5.27519241e-02 9.98583052e-01 -7.00870076e-03 -1.13918703e+00] [-7.95418447e-02 2.79444066e-03 9.96827611e-01 -2.68489228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.447719421 meters 0.06295363377386279 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.15, Z:-2.69 [[ 9.95862398e-01 4.28333550e-02 8.01460365e-02 2.61007801e+01] [-4.24009903e-02 9.99075519e-01 -7.08961377e-03 -1.14790188e+00] [-8.03756149e-02 3.66200846e-03 9.96757920e-01 -2.68840011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.477719421 meters 0.06526155462949677 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.15, Z:-2.69 [[ 9.96086302e-01 3.78269358e-02 7.98824245e-02 2.61313780e+01] [-3.73814813e-02 9.99276093e-01 -7.06502221e-03 -1.15244117e+00] [-8.00918452e-02 4.05124849e-03 9.96779255e-01 -2.69203905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.507719421 meters 0.06639776169134139 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.15, Z:-2.69 [[ 9.96224747e-01 3.37683351e-02 7.99747020e-02 2.61621363e+01] [-3.33086938e-02 9.99420071e-01 -7.07482256e-03 -1.15385398e+00] [-8.01672273e-02 4.38426046e-03 9.96771786e-01 -2.69433398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.537719421 meters 0.06976520540169626 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.15, Z:-2.69 [[ 9.96271458e-01 2.78653016e-02 8.16499107e-02 2.61916904e+01] [-2.73662117e-02 9.99599361e-01 -7.22550810e-03 -1.15384315e+00] [-8.18185395e-02 4.96411875e-03 9.96634880e-01 -2.69481179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.567719421 meters 0.07257396481995917 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.15, Z:-2.70 [[ 9.96184576e-01 2.26644225e-02 8.42770052e-02 2.62225521e+01] [-2.21142348e-02 9.99727645e-01 -7.45624713e-03 -1.15179554e+00] [-8.44230435e-02 5.56407691e-03 9.96414467e-01 -2.69526318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.597719421 meters 0.07382318185535497 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.15, Z:-2.70 [[ 9.96203172e-01 2.09144349e-02 8.45093283e-02 2.62545371e+01] [-2.03549896e-02 9.99764862e-01 -7.47623864e-03 -1.15332562e+00] [-8.46458183e-02 5.72766615e-03 9.96394640e-01 -2.69915276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.627719421 meters 0.07644364153427859 Centerline is valid? [True, True] Translation: X:26.28, Y:-1.15, Z:-2.71 [[ 9.96323947e-01 1.89831356e-02 8.35358244e-02 2.62838898e+01] [-1.84291067e-02 9.99802796e-01 -7.39840344e-03 -1.15341063e+00] [-8.36597957e-02 5.83171589e-03 9.96477310e-01 -2.70637526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.657719421 meters 0.07756312347655558 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.15, Z:-2.71 [[ 9.96296044e-01 1.96816861e-02 8.37067713e-02 2.63156319e+01] [-1.91282569e-02 9.99789590e-01 -7.40845932e-03 -1.15248895e+00] [-8.38349695e-02 5.77985409e-03 9.96462890e-01 -2.71019421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.687719421 meters 0.076667120043609 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.14, Z:-2.71 [[ 9.96488949e-01 2.00090337e-02 8.12982980e-02 2.63489618e+01] [-1.94863922e-02 9.99784074e-01 -7.21710960e-03 -1.13925546e+00] [-8.14251510e-02 5.60755944e-03 9.96663685e-01 -2.71432521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.717719420999998 meters 0.07770665537034964 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.14, Z:-2.72 [[ 9.96725270e-01 1.93818105e-02 7.85052918e-02 2.63808413e+01] [-1.88909505e-02 9.99797112e-01 -6.99048854e-03 -1.13686799e+00] [-7.86248524e-02 5.48455700e-03 9.96889188e-01 -2.71988353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.747719421 meters 0.07528290526519954 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.13, Z:-2.73 [[ 9.96961229e-01 1.88159481e-02 7.55927771e-02 2.64137551e+01] [-1.83575684e-02 9.99808672e-01 -6.75413874e-03 -1.12533028e+00] [-7.57053996e-02 5.34591488e-03 9.97115898e-01 -2.72658654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.777719421 meters 0.0751538310778325 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.12, Z:-2.73 [[ 9.97018152e-01 1.81704455e-02 7.49976030e-02 2.64457135e+01] [-1.77174223e-02 9.99820576e-01 -6.70146263e-03 -1.12360699e+00] [-7.51059151e-02 5.35271568e-03 9.97161196e-01 -2.73102034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.807719420999998 meters 0.0751538310778325 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.13, Z:-2.73 [[ 9.97012202e-01 1.85014936e-02 7.49957560e-02 2.64780676e+01] [-1.80478596e-02 9.99814527e-01 -6.72205808e-03 -1.12672742e+00] [-7.51062144e-02 5.34846105e-03 9.97161196e-01 -2.73436082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.837719421 meters 0.07725117063802477 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.12, Z:-2.74 [[ 9.97060166e-01 1.41807366e-02 7.52989546e-02 2.65093608e+01] [-1.37086036e-02 9.99883024e-01 -6.78329763e-03 -1.12357627e+00] [-7.53863386e-02 5.73111233e-03 9.97137931e-01 -2.73762129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.867719421 meters 0.08232513573079925 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.12, Z:-2.74 [[ 9.97137803e-01 1.13431416e-02 7.47498196e-02 2.65387909e+01] [-1.08699311e-02 9.99918243e-01 -6.73439804e-03 -1.12364107e+00] [-7.48200975e-02 5.90259748e-03 9.97179579e-01 -2.74194152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.897719420999998 meters 0.0796883858796777 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.12, Z:-2.74 [[ 9.97167023e-01 1.00468978e-02 7.45452106e-02 2.65716286e+01] [-9.57285573e-03 9.99931641e-01 -6.71371072e-03 -1.11664593e+00] [-7.46075668e-02 5.98108038e-03 9.97195035e-01 -2.74216468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.927719421 meters 0.08478830525623196 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.12, Z:-2.75 [[ 9.96958585e-01 9.72530191e-03 7.73239820e-02 2.66020507e+01] [-9.21402614e-03 9.99933285e-01 -6.96615206e-03 -1.12175009e+00] [-7.73865712e-02 6.23249991e-03 9.96981682e-01 -2.74548357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.957719421 meters 0.08306922573943669 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.11, Z:-2.75 [[ 9.96702037e-01 1.05216232e-02 8.04633147e-02 2.66353419e+01] [-9.96830726e-03 9.99923849e-01 -7.27523849e-03 -1.11068973e+00] [-8.05337347e-02 6.44916197e-03 9.96731020e-01 -2.74582347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.987719420999998 meters 0.08090628055954445 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.10, Z:-2.75 [[ 9.96769963e-01 1.22363856e-02 7.93719827e-02 2.66671089e+01] [-1.17028130e-02 9.99905712e-01 -7.18413917e-03 -1.10346132e+00] [-7.94524068e-02 6.23205866e-03 9.96819179e-01 -2.74901265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.017719421 meters 0.07359613230845242 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.08, Z:-2.75 [[ 9.96832638e-01 1.95541632e-02 7.70864821e-02 2.66995883e+01] [-1.90723769e-02 9.99793732e-01 -6.98127678e-03 -1.08080739e+00] [-7.72070946e-02 5.48894211e-03 9.96999968e-01 -2.75318002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.047719421 meters 0.07306970531980929 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.07, Z:-2.76 [[ 9.96405366e-01 2.69036704e-02 8.03276940e-02 2.67299324e+01] [-2.64041270e-02 9.99624880e-01 -7.27475747e-03 -1.07178623e+00] [-8.04932791e-02 5.12762475e-03 9.96741962e-01 -2.75695654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.077719421 meters 0.07038528333501877 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.06, Z:-2.76 [[ 9.96163142e-01 3.05039230e-02 8.20274641e-02 2.67621593e+01] [-2.99951828e-02 9.99522446e-01 -7.42751401e-03 -1.06385508e+00] [-8.22148599e-02 4.93858691e-03 9.96602392e-01 -2.75690684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.107719421 meters 0.0669606473357443 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.04, Z:-2.76 [[ 9.95911587e-01 3.79558472e-02 8.19723365e-02 2.67934719e+01] [-3.74727091e-02 9.99270067e-01 -7.42490492e-03 -1.04464249e+00] [-8.21943208e-02 4.32282333e-03 9.96606947e-01 -2.75758955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.137719421 meters 0.06239334687840589 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.03, Z:-2.76 [[ 9.95750177e-01 4.36640689e-02 8.10865858e-02 2.68252165e+01] [-4.32103952e-02 9.99039016e-01 -7.34214814e-03 -1.03228804e+00] [-8.13292509e-02 3.80716190e-03 9.96680018e-01 -2.75873862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.167719421 meters 0.05845825940717906 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.02, Z:-2.77 [[ 9.95376827e-01 5.43928077e-02 7.91605652e-02 2.68565497e+01] [-5.39941208e-02 9.98515513e-01 -7.16980285e-03 -1.01822937e+00] [-7.94330381e-02 2.86245049e-03 9.96836094e-01 -2.76636298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.197719421 meters 0.05607659819833632 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.01, Z:-2.77 [[ 9.95084000e-01 5.98283261e-02 7.89202463e-02 2.68887845e+01] [-5.94491919e-02 9.98205748e-01 -7.14695351e-03 -1.01004274e+00] [-7.92062338e-02 2.42007421e-03 9.96855313e-01 -2.76912168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.227719421 meters 0.05442765282392613 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.00, Z:-2.77 [[ 9.94452037e-01 7.01105634e-02 7.84197382e-02 2.69197800e+01] [-6.97678147e-02 9.97537952e-01 -7.10538445e-03 -9.95948617e-01] [-7.87248275e-02 1.59479028e-03 9.96895109e-01 -2.77490530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.257719421 meters 0.052953872103036766 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.98, Z:-2.78 [[ 9.93782362e-01 8.06015557e-02 7.68115041e-02 2.69496076e+01] [-8.03038213e-02 9.96746119e-01 -6.96206491e-03 -9.78033267e-01] [-7.71227219e-02 7.50520005e-04 9.97021325e-01 -2.77897017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.287719421 meters 0.0526753804789881 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.97, Z:-2.78 [[ 9.93300726e-01 8.62291474e-02 7.69298490e-02 2.69792052e+01] [-8.59472922e-02 9.96275281e-01 -6.97337026e-03 -9.69279019e-01] [-7.72446146e-02 3.14741530e-04 9.97012122e-01 -2.78257964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.317719421 meters 0.052572846992698416 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.96, Z:-2.79 [[ 9.92861619e-01 9.11845666e-02 7.68841995e-02 2.70084947e+01] [-9.09183562e-02 9.95834007e-01 -6.96301633e-03 -9.62963310e-01] [-7.71988200e-02 -7.68733635e-05 9.97015715e-01 -2.78717744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.347719421 meters 0.052927682053982086 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.96, Z:-2.79 [[ 9.92005907e-01 9.83302984e-02 7.90912933e-02 2.70361700e+01] [-9.80716284e-02 9.95153617e-01 -7.15777148e-03 -9.57545686e-01] [-7.94118124e-02 -6.56060335e-04 9.96841679e-01 -2.79267090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.377719421 meters 0.05299988684723402 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.96, Z:-2.80 [[ 9.91742547e-01 1.00174095e-01 8.00741591e-02 2.70644869e+01] [-9.99160212e-02 9.94969581e-01 -7.23338969e-03 -9.58083127e-01] [-8.03959508e-02 -8.27031063e-04 9.96762663e-01 -2.79575381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.407719421 meters 0.05285122330629519 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.95, Z:-2.79 [[ 9.91297017e-01 1.02709067e-01 8.23472599e-02 2.70939897e+01] [-1.02445404e-01 9.94710865e-01 -7.43196160e-03 -9.52620734e-01] [-8.26750439e-02 -1.06881696e-03 9.96575985e-01 -2.79413122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.437719421 meters 0.05344491913390661 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.95, Z:-2.79 [[ 9.90971782e-01 1.06584721e-01 8.13303443e-02 2.71233404e+01] [-1.06341090e-01 9.94302665e-01 -7.33370299e-03 -9.47589052e-01] [-8.16486387e-02 -1.38126474e-03 9.96660219e-01 -2.79345272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.467719420999998 meters 0.054738599821282916 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.95, Z:-2.80 [[ 9.90669735e-01 1.11708909e-01 7.80678918e-02 2.71518932e+01] [-1.11500836e-01 9.93739453e-01 -7.03293942e-03 -9.51396836e-01] [-7.83647861e-02 -1.73731493e-03 9.96923238e-01 -2.79972804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.497719421 meters 0.0554090745887111 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.96, Z:-2.80 [[ 9.90483356e-01 1.13561670e-01 7.77590384e-02 2.71800077e+01] [-1.13360879e-01 9.93529179e-01 -7.00586417e-03 -9.55377235e-01] [-7.80514712e-02 -1.87564106e-03 9.96947566e-01 -2.80434022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.527719421 meters 0.056665440025580334 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.96, Z:-2.81 [[ 9.90193150e-01 1.15789388e-01 7.81686808e-02 2.72073056e+01] [-1.15595615e-01 9.93271589e-01 -7.01461962e-03 -9.57773264e-01] [-7.84549483e-02 -2.09012841e-03 9.96915469e-01 -2.80754171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.557719420999998 meters 0.05843786883866534 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.96, Z:-2.81 [[ 9.89834580e-01 1.20815131e-01 7.50413734e-02 2.72373060e+01] [-1.20651696e-01 9.92672128e-01 -6.72418071e-03 -9.63833438e-01] [-7.53038626e-02 -2.39804241e-03 9.97157750e-01 -2.80836084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.587719421 meters 0.05912337405643205 Centerline is valid? [True, True] Translation: X:27.27, Y:-0.97, Z:-2.81 [[ 9.89634776e-01 1.22582076e-01 7.48107220e-02 2.72659585e+01] [-1.22424226e-01 9.92455183e-01 -6.70953486e-03 -9.68265810e-01] [-7.50687575e-02 -2.51865568e-03 9.97175179e-01 -2.80962653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.617719421 meters 0.06014846593949942 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.98, Z:-2.81 [[ 9.89662436e-01 1.23643448e-01 7.26674706e-02 2.72944057e+01] [-1.23499401e-01 9.92323428e-01 -6.48945249e-03 -9.77625709e-01] [-7.29120118e-02 -2.55202174e-03 9.97335112e-01 -2.81160540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.647719420999998 meters 0.06038254693514112 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.99, Z:-2.81 [[ 9.89826693e-01 1.23442378e-01 7.07467083e-02 2.73221321e+01] [-1.23305112e-01 9.92348676e-01 -6.32098724e-03 -9.85510699e-01] [-7.09856800e-02 -2.46674887e-03 9.97474285e-01 -2.81463071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.677719421 meters 0.061716861527543146 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.00, Z:-2.82 [[ 9.90141959e-01 1.22017595e-01 6.87794115e-02 2.73481645e+01] [-1.21886261e-01 9.92525214e-01 -6.11866605e-03 -9.96632935e-01] [-6.90118850e-02 -2.32491728e-03 9.97613129e-01 -2.82298457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.707719421 meters 0.06121758263483108 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.01, Z:-2.83 [[ 9.90247471e-01 1.20756695e-01 6.94821281e-02 2.73757540e+01] [-1.20619689e-01 9.92679558e-01 -6.17943835e-03 -1.00505056e+00] [-6.97196967e-02 -2.26173951e-03 9.97564057e-01 -2.82623062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.737719420999998 meters 0.059985101668308206 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.02, Z:-2.83 [[ 9.90653528e-01 1.17384702e-01 6.94724293e-02 2.74032583e+01] [-1.17241324e-01 9.93084400e-01 -6.15187097e-03 -1.01951712e+00] [-6.97141214e-02 -2.05066692e-03 9.97564903e-01 -2.83022020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.767719421 meters 0.05932902334239412 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.03, Z:-2.83 [[ 9.91080244e-01 1.14571808e-01 6.80679868e-02 2.74312122e+01] [-1.14427440e-01 9.93413314e-01 -6.02903067e-03 -1.02851077e+00] [-6.83104013e-02 -1.81359229e-03 9.97662468e-01 -2.83388981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.797719421 meters 0.05592099545834089 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.05, Z:-2.83 [[ 9.92298656e-01 1.04773064e-01 6.60755822e-02 2.74592430e+01] [-1.04617109e-01 9.94495512e-01 -5.82551704e-03 -1.05251017e+00] [-6.63222272e-02 -1.13198369e-03 9.97797615e-01 -2.83397498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.827719420999998 meters 0.05503929784306392 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.06, Z:-2.84 [[ 9.92892327e-01 9.93829346e-02 6.54817489e-02 2.74870547e+01] [-9.92181425e-02 9.95048966e-01 -5.77189721e-03 -1.06492152e+00] [-6.57311746e-02 -7.66105040e-04 9.97837074e-01 -2.83764459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.857719421 meters 0.05431848531814474 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.09, Z:-2.84 [[ 9.93866567e-01 8.95596322e-02 6.48715651e-02 2.75132742e+01] [-8.93773387e-02 9.95981455e-01 -5.71258039e-03 -1.08665176e+00] [-6.51224924e-02 -1.20505190e-04 9.97877270e-01 -2.84170129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.887719421 meters 0.05344618629267546 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.11, Z:-2.84 [[ 9.94263363e-01 8.09298245e-02 6.99337429e-02 2.75419177e+01] [-8.06972082e-02 9.96719691e-01 -6.14970634e-03 -1.11030633e+00] [-7.02020333e-02 4.70969889e-04 9.97532683e-01 -2.84038983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.917719421 meters 0.05336910347256721 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.12, Z:-2.84 [[ 9.94500695e-01 7.71580606e-02 7.08166742e-02 2.75704152e+01] [-7.69100302e-02 9.97018594e-01 -6.22653696e-03 -1.12175599e+00] [-7.10859685e-02 7.45782786e-04 9.97469914e-01 -2.84000670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.947719421 meters 0.05395549912486857 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.14, Z:-2.84 [[ 9.94752927e-01 7.20358309e-02 7.26460785e-02 2.75987898e+01] [-7.17615329e-02 9.97401398e-01 -6.38222301e-03 -1.13837155e+00] [-7.29170490e-02 1.13554107e-03 9.97337362e-01 -2.84292805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.977719421 meters 0.054269587735540394 Centerline is valid? [True, True] Translation: X:27.63, Y:-1.15, Z:-2.84 [[ 9.94670990e-01 7.06945276e-02 7.50460279e-02 2.76292514e+01] [-7.03983425e-02 9.97497204e-01 -6.58801808e-03 -1.14639985e+00] [-7.53239398e-02 1.26979449e-03 9.97158308e-01 -2.84402299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.007719421 meters 0.054176703810029855 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.16, Z:-2.84 [[ 9.94627767e-01 7.01630398e-02 7.61101416e-02 2.76604269e+01] [-6.98552578e-02 9.97534625e-01 -6.70189928e-03 -1.15677644e+00] [-7.63927271e-02 1.34920155e-03 9.97076893e-01 -2.84453556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.037719421 meters 0.05391049999814994 Centerline is valid? [True, True] Translation: X:27.69, Y:-1.16, Z:-2.85 [[ 9.94593738e-01 7.17050895e-02 7.51110943e-02 2.76927155e+01] [-7.14081924e-02 9.97425112e-01 -6.63438482e-03 -1.16210574e+00] [-7.53934108e-02 1.23497012e-03 9.97153102e-01 -2.84777701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.067719421 meters 0.05377578607655441 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.17, Z:-2.85 [[ 9.94633138e-01 7.31563015e-02 7.31647247e-02 2.77240941e+01] [-7.28767043e-02 9.97319858e-01 -6.48737769e-03 -1.17055875e+00] [-7.34432254e-02 1.12055683e-03 9.97298770e-01 -2.85259653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.097719421 meters 0.05427015396835919 Centerline is valid? [True, True] Translation: X:27.75, Y:-1.18, Z:-2.86 [[ 9.94604809e-01 7.27902329e-02 7.39111355e-02 2.77547780e+01] [-7.25021769e-02 9.97346572e-01 -6.57648466e-03 -1.17801645e+00] [-7.41937215e-02 1.18228504e-03 9.97243147e-01 -2.85779035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.127719421 meters 0.05463312665971175 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.18, Z:-2.86 [[ 9.94920382e-01 7.05572777e-02 7.17990516e-02 2.77861706e+01] [-7.02778802e-02 9.97506836e-01 -6.41333606e-03 -1.18444700e+00] [-7.20725523e-02 1.33487362e-03 9.97398499e-01 -2.86073367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.157719421 meters 0.054994687962920584 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.19, Z:-2.86 [[ 9.95036995e-01 6.95240085e-02 7.11884178e-02 2.78182319e+01] [-6.92467474e-02 9.97579300e-01 -6.35828644e-03 -1.18737831e+00] [-7.14581456e-02 1.39716385e-03 9.97442621e-01 -2.86335210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.187719421 meters 0.05528052430788952 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.19, Z:-2.86 [[ 9.95028314e-01 6.92990685e-02 7.15282654e-02 2.78510104e+01] [-6.90171393e-02 9.97594891e-01 -6.40850065e-03 -1.19036633e+00] [-7.18003352e-02 1.43996334e-03 9.97417986e-01 -2.86479997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.217719420999998 meters 0.05486844978190468 Centerline is valid? [True, True] Translation: X:27.88, Y:-1.19, Z:-2.87 [[ 9.94833713e-01 7.10439883e-02 7.25164482e-02 2.78834515e+01] [-7.07569510e-02 9.97472259e-01 -6.52275859e-03 -1.19244355e+00] [-7.27965481e-02 1.35801738e-03 9.97345887e-01 -2.86761249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.247719421 meters 0.05391258099982673 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.19, Z:-2.87 [[ 9.94521005e-01 7.47730810e-02 7.30544802e-02 2.79159963e+01] [-7.44902429e-02 9.97199952e-01 -6.59236182e-03 -1.19135589e+00] [-7.33428554e-02 1.11439633e-03 9.97306163e-01 -2.86959690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.277719421 meters 0.05289715438419671 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.18, Z:-2.87 [[ 9.93709998e-01 8.41228045e-02 7.39174796e-02 2.79473442e+01] [-8.38568274e-02 9.96455289e-01 -6.69998154e-03 -1.18321085e+00] [-7.42190847e-02 4.59353313e-04 9.97241855e-01 -2.87417638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.307719420999998 meters 0.052764753303168224 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.17, Z:-2.88 [[ 9.92734919e-01 9.50546303e-02 7.37698978e-02 2.79776479e+01] [-9.48194130e-02 9.95471996e-01 -6.69216419e-03 -1.17284883e+00] [-7.40719886e-02 -3.51273326e-04 9.97252835e-01 -2.87590159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.337719421 meters 0.05360321925668127 Centerline is valid? [True, True] Translation: X:28.01, Y:-1.17, Z:-2.88 [[ 9.92157218e-01 1.00638211e-01 7.41350450e-02 2.80061682e+01] [-1.00416318e-01 9.94922787e-01 -6.72386446e-03 -1.16664412e+00] [-7.44353233e-02 -7.73237629e-04 9.97225544e-01 -2.88032372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.367719421 meters 0.05451441760230671 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.16, Z:-2.88 [[ 9.91364393e-01 1.07475554e-01 7.51375161e-02 2.80353934e+01] [-1.07267820e-01 9.94206862e-01 -6.80666388e-03 -1.16132000e+00] [-7.54337840e-02 -1.31195334e-03 9.97149950e-01 -2.87880702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.397719420999998 meters 0.05488619902289312 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.16, Z:-2.88 [[ 9.91122103e-01 1.08956789e-01 7.61931401e-02 2.80620587e+01] [-1.08748101e-01 9.94045426e-01 -6.89499469e-03 -1.16473390e+00] [-7.64906989e-02 -1.45207764e-03 9.97069238e-01 -2.88290101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.427719421 meters 0.05560188570024081 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.17, Z:-2.89 [[ 9.91097591e-01 1.10131512e-01 7.48105343e-02 2.80882596e+01] [-1.09934591e-01 9.93915851e-01 -6.75770676e-03 -1.17343045e+00] [-7.50996123e-02 -1.52671861e-03 9.97174868e-01 -2.89047557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.457719421 meters 0.0551815112703466 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.18, Z:-2.89 [[ 9.91124694e-01 1.09895638e-01 7.47983234e-02 2.81158156e+01] [-1.09698657e-01 9.93941976e-01 -6.74934555e-03 -1.18129018e+00] [-7.50869169e-02 -1.51583261e-03 9.97175841e-01 -2.89097769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.487719420999998 meters 0.055394307478001295 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.18, Z:-2.89 [[ 9.90962938e-01 1.10466387e-01 7.60896323e-02 2.81450230e+01] [-1.10265125e-01 9.93878576e-01 -6.85406546e-03 -1.18395880e+00] [-7.63809992e-02 -1.59790793e-03 9.97077424e-01 -2.89220721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.517719421 meters 0.05580541807755307 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.19, Z:-2.89 [[ 9.90851117e-01 1.11230428e-01 7.64320397e-02 2.81727447e+01] [-1.11029915e-01 9.93793243e-01 -6.88104029e-03 -1.18655711e+00] [-7.67230256e-02 -1.66815644e-03 9.97051049e-01 -2.89424714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.547719421 meters 0.056101299200201585 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.19, Z:-2.90 [[ 9.90660696e-01 1.12441727e-01 7.71248581e-02 2.82002645e+01] [-1.12241912e-01 9.93656714e-01 -6.93455933e-03 -1.19455068e+00] [-7.74153669e-02 -1.78684614e-03 9.96997326e-01 -2.89779548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.577719420999998 meters 0.055373885300239484 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.20, Z:-2.90 [[ 9.90754335e-01 1.11717809e-01 7.69738848e-02 2.82280239e+01] [-1.11517088e-01 9.93738460e-01 -6.91461879e-03 -1.20368825e+00] [-7.72643958e-02 -1.73321493e-03 9.97009132e-01 -2.90020044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.607719421 meters 0.055170826939566445 Centerline is valid? [True, True] Translation: X:28.25, Y:-1.22, Z:-2.91 [[ 9.91545872e-01 1.05938375e-01 7.49255950e-02 2.82534339e+01] [-1.05732160e-01 9.94371906e-01 -6.72476670e-03 -1.21831317e+00] [-7.52163176e-02 -1.25413033e-03 9.97166452e-01 -2.90996405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.637719421 meters 0.05441121879037764 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.23, Z:-2.92 [[ 9.92094851e-01 1.01710737e-01 7.35032872e-02 2.82815485e+01] [-1.01501380e-01 9.94813586e-01 -6.58782635e-03 -1.22910580e+00] [-7.37921214e-02 -9.24936449e-04 9.97273216e-01 -2.91500478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.667719421 meters 0.05296258976234478 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.25, Z:-2.91 [[ 9.92878853e-01 9.24280339e-02 7.51574442e-02 2.83105577e+01] [-9.21830097e-02 9.95719337e-01 -6.73013360e-03 -1.24649369e+00] [-7.54577735e-02 -2.46032078e-04 9.97148968e-01 -2.91390583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.697719421 meters 0.05271056849880269 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.26, Z:-2.92 [[ 9.93134589e-01 8.83566246e-02 7.66602561e-02 2.83409193e+01] [-8.80898326e-02 9.96088903e-01 -6.86135917e-03 -1.25506098e+00] [-7.69666770e-02 6.12639943e-05 9.97033664e-01 -2.91524272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.727719421 meters 0.05271056849880269 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.26, Z:-2.92 [[ 9.93108406e-01 8.86501857e-02 7.66605414e-02 2.83723668e+01] [-8.83845120e-02 9.96062821e-01 -6.85818636e-03 -1.25807518e+00] [-7.69666946e-02 3.53179830e-05 9.97033664e-01 -2.91849377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.757719421 meters 0.05326949213557842 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.28, Z:-2.92 [[ 9.93851439e-01 7.97481976e-02 7.68084745e-02 2.84031406e+01] [-7.94531435e-02 9.96814759e-01 -6.89454212e-03 -1.27713244e+00] [-7.71136483e-02 7.49475856e-04 9.97022028e-01 -2.92218367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.787719421 meters 0.0544957093221634 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.29, Z:-2.93 [[ 9.94216509e-01 7.54353255e-02 7.64398102e-02 2.84329303e+01] [-7.51285816e-02 9.97150088e-01 -6.88470233e-03 -1.29072709e+00] [-7.67413132e-02 1.10207020e-03 9.97050428e-01 -2.92995589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.817719421 meters 0.056763363854953446 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.31, Z:-2.94 [[ 9.95019439e-01 6.82453814e-02 7.26559266e-02 2.84606640e+01] [-6.79472084e-02 9.97667281e-01 -6.57057119e-03 -1.30735651e+00] [-7.29348519e-02 1.60107867e-03 9.97335422e-01 -2.93799598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.847719421 meters 0.05660743013925854 Centerline is valid? [True, True] Translation: X:28.49, Y:-1.31, Z:-2.94 [[ 9.95177333e-01 6.63353696e-02 7.22612909e-02 2.84929669e+01] [-6.60360278e-02 9.97795896e-01 -6.52633765e-03 -1.31226839e+00] [-7.25349466e-02 1.72301468e-03 9.97364383e-01 -2.93837258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.877719421 meters 0.05657270199750374 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.32, Z:-2.94 [[ 9.95056841e-01 6.49993430e-02 7.50797493e-02 2.85246535e+01] [-6.46706379e-02 9.97883470e-01 -6.80355635e-03 -1.31920622e+00] [-7.53630675e-02 1.91447000e-03 9.97154322e-01 -2.93694642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.907719421 meters 0.055698908433816446 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.32, Z:-2.94 [[ 9.94846981e-01 6.68704085e-02 7.62091427e-02 2.85569966e+01] [-6.65354810e-02 9.97760006e-01 -6.92826033e-03 -1.32293723e+00] [-7.65017303e-02 1.82194691e-03 9.97067784e-01 -2.93612351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.937719421 meters 0.05572121975827416 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.33, Z:-2.94 [[ 9.94736990e-01 6.84508547e-02 7.62417306e-02 2.85879043e+01] [-6.81185160e-02 9.97653000e-01 -6.95410447e-03 -1.32558899e+00] [-7.65388056e-02 1.72403141e-03 9.97065113e-01 -2.94008834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.967719420999998 meters 0.05479279399205669 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.32, Z:-2.94 [[ 9.94578975e-01 7.08092163e-02 7.61493043e-02 2.86201679e+01] [-7.04830760e-02 9.97488657e-01 -6.96532385e-03 -1.32499335e+00] [-7.64512764e-02 1.56032745e-03 9.97072098e-01 -2.94186112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.997719421 meters 0.0540586867512394 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.32, Z:-2.95 [[ 9.94174630e-01 7.60487076e-02 7.63766965e-02 2.86516253e+01] [-7.57342972e-02 9.97103401e-01 -7.00878859e-03 -1.32419649e+00] [-7.66884732e-02 1.18362437e-03 9.97054400e-01 -2.94786570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.027719421 meters 0.053516008189900495 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.32, Z:-2.95 [[ 9.93859862e-01 7.93392260e-02 7.71223887e-02 2.86835188e+01] [-7.90267374e-02 9.96847211e-01 -7.10019290e-03 -1.32433283e+00] [-7.74425619e-02 9.61865966e-04 9.96996351e-01 -2.95094883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.057719420999998 meters 0.05264968261251349 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.32, Z:-2.95 [[ 9.93412046e-01 8.43854886e-02 7.75344775e-02 2.87168608e+01] [-8.40829372e-02 9.96433004e-01 -7.16433775e-03 -1.31907149e+00] [-7.78624785e-02 5.97812820e-04 9.96963930e-01 -2.95210921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.087719421 meters 0.052528910206897074 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.32, Z:-2.96 [[ 9.93148845e-01 8.84310432e-02 7.63892840e-02 2.87484938e+01] [-8.81491292e-02 9.96082262e-01 -7.06103853e-03 -1.31807216e+00] [-7.67144258e-02 2.79013400e-04 9.97053067e-01 -2.95735812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.117719421 meters 0.05257978291857201 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.32, Z:-2.96 [[ 9.92879088e-01 9.20743202e-02 7.55872793e-02 2.87807834e+01] [-9.18070926e-02 9.95752137e-01 -7.00989475e-03 -1.31690837e+00] [-7.59116263e-02 2.05295581e-05 9.97114549e-01 -2.96050692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.147719420999998 meters 0.05298099659278828 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.31, Z:-2.96 [[ 9.92299366e-01 9.96771354e-02 7.35284773e-02 2.88127815e+01] [-9.94431617e-02 9.95019698e-01 -6.84533286e-03 -1.30960059e+00] [-7.38446064e-02 -5.19284800e-04 9.97269625e-01 -2.96173132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.177719421 meters 0.05398369332551192 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.31, Z:-2.97 [[ 9.91869897e-01 1.03913353e-01 7.34583080e-02 2.88412063e+01] [-1.03690969e-01 9.94586009e-01 -6.84492924e-03 -1.30635230e+00] [-7.37718850e-02 -8.27683856e-04 9.97274799e-01 -2.96767169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.207719421 meters 0.05724588279573329 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.30, Z:-2.97 [[ 9.90737377e-01 1.13547954e-01 7.44735721e-02 2.88701120e+01] [-1.13346844e-01 9.93531276e-01 -6.93518638e-03 -1.29507528e+00] [-7.47792993e-02 -1.57039603e-03 9.97198872e-01 -2.97267859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.237719420999998 meters 0.058665377589279394 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.29, Z:-2.97 [[ 9.90252014e-01 1.17157834e-01 7.53325280e-02 2.88991869e+01] [-1.16962956e-01 9.93111546e-01 -7.00886356e-03 -1.29215843e+00] [-7.56347466e-02 -1.87057388e-03 9.97133836e-01 -2.97430099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.267719421 meters 0.05852095498457408 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.29, Z:-2.97 [[ 9.89793604e-01 1.21989717e-01 7.36690574e-02 2.89290183e+01] [-1.21817170e-01 9.92528934e-01 -6.84777075e-03 -1.29452035e+00] [-7.39540286e-02 -2.19627637e-03 9.97259233e-01 -2.97356722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.297719421 meters 0.058442410984668555 Centerline is valid? [True, True] Translation: X:28.96, Y:-1.30, Z:-2.98 [[ 9.89776533e-01 1.22618617e-01 7.28497690e-02 2.89574440e+01] [-1.22451712e-01 9.92451383e-01 -6.76988848e-03 -1.29923781e+00] [-7.31299683e-02 -2.21990221e-03 9.97319949e-01 -2.97741896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.327719420999998 meters 0.058975895624033485 Centerline is valid? [True, True] Translation: X:28.98, Y:-1.31, Z:-2.99 [[ 9.89996361e-01 1.22575585e-01 6.98744023e-02 2.89849356e+01] [-1.22422331e-01 9.92456892e-01 -6.48767371e-03 -1.30749119e+00] [-7.01425626e-02 -2.13141382e-03 9.97534700e-01 -2.98552526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.357719421 meters 0.05777157983919539 Centerline is valid? [True, True] Translation: X:29.01, Y:-1.32, Z:-2.99 [[ 9.90355736e-01 1.20071684e-01 6.91253030e-02 2.90129059e+01] [-1.19916020e-01 9.92763331e-01 -6.41221740e-03 -1.32022447e+00] [-6.93949918e-02 -1.93885494e-03 9.97587378e-01 -2.98883713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.387719421 meters 0.05726287062690465 Centerline is valid? [True, True] Translation: X:29.04, Y:-1.33, Z:-2.99 [[ 9.90593636e-01 1.17558026e-01 7.00311290e-02 2.90399195e+01] [-1.17392382e-01 9.93064399e-01 -6.49058644e-03 -1.32869370e+00] [-7.03084416e-02 -1.79158746e-03 9.97523691e-01 -2.99209517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.417719421 meters 0.05556119287731564 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.35, Z:-3.00 [[ 9.91546971e-01 1.10428298e-01 6.81189780e-02 2.90671175e+01] [-1.10255365e-01 9.93883296e-01 -6.30468151e-03 -1.34550769e+00] [-6.83985296e-02 -1.25909491e-03 9.97657284e-01 -2.99584057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.447719421 meters 0.05471013813182037 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.35, Z:-3.00 [[ 9.91961684e-01 1.07337187e-01 6.70130207e-02 2.90963661e+01] [-1.07163114e-01 9.94222138e-01 -6.19737432e-03 -1.35467250e+00] [-6.72910374e-02 -1.03376608e-03 9.97732854e-01 -2.99784840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.477719421 meters 0.05497638229425137 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.37, Z:-3.01 [[ 9.92515207e-01 1.02050854e-01 6.70759855e-02 2.91239051e+01] [-1.01864643e-01 9.94778951e-01 -6.19945217e-03 -1.36601886e+00] [-6.73584379e-02 -6.79620752e-04 9.97728610e-01 -3.00707588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.507719421 meters 0.054374137681201785 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.38, Z:-3.01 [[ 9.92884068e-01 9.97213929e-02 6.50912537e-02 2.91539555e+01] [-9.95414012e-02 9.95015267e-01 -6.01059224e-03 -1.37537203e+00] [-6.53661758e-02 -5.11453321e-04 9.97861214e-01 -3.00897060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.537719421 meters 0.05455351598721286 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.39, Z:-3.02 [[ 9.93689571e-01 9.36160316e-02 6.17824893e-02 2.91836623e+01] [-9.34422381e-02 9.95608370e-01 -5.70270290e-03 -1.38935384e+00] [-6.20450279e-02 -1.06377685e-04 9.98073346e-01 -3.01802491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.567719421 meters 0.05427974370307419 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.40, Z:-3.02 [[ 9.94074941e-01 8.95269917e-02 6.16435647e-02 2.92155902e+01] [-8.93452793e-02 9.95984383e-01 -5.70347181e-03 -1.39815319e+00] [-6.19066425e-02 1.62116900e-04 9.98081931e-01 -3.01975080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.597719421 meters 0.05517401259276758 Centerline is valid? [True, True] Translation: X:29.25, Y:-1.42, Z:-3.02 [[ 9.94690147e-01 7.96853314e-02 6.51287950e-02 2.92456430e+01] [-7.94596390e-02 9.96819710e-01 -6.05245299e-03 -1.41597933e+00] [-6.54039582e-02 8.45204816e-04 9.97858511e-01 -3.02332130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.627719421 meters 0.05580762019110785 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.43, Z:-3.02 [[ 9.94938282e-01 7.50739930e-02 6.67960346e-02 2.92773784e+01] [-7.48247579e-02 9.97177245e-01 -6.22883360e-03 -1.42665391e+00] [-6.70751092e-02 1.19930788e-03 9.97747208e-01 -3.02458942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.657719421 meters 0.056553114537909475 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.44, Z:-3.02 [[ 9.95535815e-01 6.75459102e-02 6.59241276e-02 2.93085191e+01] [-6.72848554e-02 9.97714699e-01 -6.17473653e-03 -1.43598299e+00] [-6.61905493e-02 1.71147597e-03 9.97805533e-01 -3.02251646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.687719421 meters 0.05787151152685596 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.44, Z:-3.03 [[ 9.95785407e-01 6.43217449e-02 6.53768726e-02 2.93389501e+01] [-6.40581388e-02 9.97927387e-01 -6.12251561e-03 -1.44382382e+00] [-6.56351825e-02 1.90879092e-03 9.97841861e-01 -3.02771236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.717719420999998 meters 0.05888051114332227 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.45, Z:-3.03 [[ 9.95890885e-01 6.01535728e-02 6.76970680e-02 2.93708609e+01] [-5.98609157e-02 9.98186561e-01 -6.34514339e-03 -1.45411219e+00] [-6.79559866e-02 2.26666198e-03 9.97685745e-01 -3.02837861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.747719421 meters 0.060150183668335015 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.46, Z:-3.03 [[ 9.95798488e-01 5.94656036e-02 6.96363000e-02 2.94009613e+01] [-5.91526488e-02 9.98227463e-01 -6.54946480e-03 -1.46063422e+00] [-6.99023350e-02 2.40277554e-03 9.97550946e-01 -3.03174820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.777719421 meters 0.059312890914138376 Centerline is valid? [True, True] Translation: X:29.43, Y:-1.46, Z:-3.03 [[ 9.95705515e-01 5.87589106e-02 7.15396249e-02 2.94338748e+01] [-5.84253249e-02 9.98268972e-01 -6.74841349e-03 -1.45993814e+00] [-7.18123173e-02 2.53970669e-03 9.97414929e-01 -3.02920097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.807719420999998 meters 0.05936140589715989 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.46, Z:-3.03 [[ 9.95654315e-01 5.90397550e-02 7.20193888e-02 2.94660501e+01] [-5.87008459e-02 9.98252355e-01 -6.81516401e-03 -1.46242689e+00] [-7.22958901e-02 2.55794841e-03 9.97379948e-01 -3.03180991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.837719421 meters 0.059429700913372005 Centerline is valid? [True, True] Translation: X:29.50, Y:-1.47, Z:-3.04 [[ 9.95607796e-01 5.97746209e-02 7.20563054e-02 2.94973847e+01] [-5.94357021e-02 9.98208698e-01 -6.84045721e-03 -1.46502810e+00] [-7.23361166e-02 2.52769542e-03 9.97377109e-01 -3.03508341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.867719421 meters 0.05793448308727982 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.46, Z:-3.04 [[ 9.95613094e-01 6.03573302e-02 7.14951739e-02 2.95310193e+01] [-6.00239793e-02 9.98173747e-01 -6.80385290e-03 -1.46312520e+00] [-7.17752680e-02 2.48258019e-03 9.97417740e-01 -3.03557215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.897719420999998 meters 0.05727393092644621 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.46, Z:-3.04 [[ 9.95387998e-01 6.27750435e-02 7.25398369e-02 2.95622103e+01] [-6.24357187e-02 9.98024871e-01 -6.93811432e-03 -1.45888706e+00] [-7.28321018e-02 2.37703887e-03 9.97341383e-01 -3.03768175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.927719421 meters 0.05693829440977006 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.45, Z:-3.04 [[ 9.94883197e-01 6.81422244e-02 7.45926316e-02 2.95923206e+01] [-6.77980844e-02 9.97673521e-01 -7.13901507e-03 -1.45489484e+00] [-7.49055617e-02 2.04524861e-03 9.97188535e-01 -3.04347790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.957719421 meters 0.05520961871942956 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.45, Z:-3.05 [[ 9.94879503e-01 7.08314235e-02 7.20949675e-02 2.96257636e+01] [-7.05177805e-02 9.97486729e-01 -6.88966988e-03 -1.44989152e+00] [-7.24017785e-02 1.77041425e-03 9.97373976e-01 -3.04508315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.987719420999998 meters 0.05540130588512331 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.45, Z:-3.05 [[ 9.95100060e-01 7.10299259e-02 6.87795065e-02 2.96578154e+01] [-7.07433204e-02 9.97472738e-01 -6.59691083e-03 -1.44530143e+00] [-6.90742608e-02 1.69889569e-03 9.97610074e-01 -3.05056920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.017719421 meters 0.05585743457164432 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.45, Z:-3.05 [[ 9.95139299e-01 7.03809497e-02 6.88788616e-02 2.96888011e+01] [-7.00903130e-02 9.97518615e-01 -6.63022814e-03 -1.44689465e+00] [-6.91745884e-02 1.77025961e-03 9.97602998e-01 -3.05449784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.047719421 meters 0.05623444612772558 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.44, Z:-3.06 [[ 9.95286349e-01 6.84219957e-02 6.87278277e-02 2.97216080e+01] [-6.81274816e-02 9.97654642e-01 -6.62277976e-03 -1.44476701e+00] [-6.90197801e-02 1.90930847e-03 9.97613464e-01 -3.05555834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.077719420999998 meters 0.05662175606582629 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.44, Z:-3.06 [[ 9.95325840e-01 6.83985197e-02 6.81770805e-02 2.97538856e+01] [-6.81072356e-02 9.97656239e-01 -6.59046025e-03 -1.44471270e+00] [-6.84680674e-02 1.91630290e-03 9.97651468e-01 -3.05964746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.107719421 meters 0.055484591596284966 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.44, Z:-3.06 [[ 9.94879422e-01 7.26918175e-02 7.02199099e-02 2.97849157e+01] [-7.23912558e-02 9.97353000e-01 -6.81902897e-03 -1.43792480e+00] [-7.05297254e-02 1.70080414e-03 9.97508228e-01 -3.06080935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.137719421 meters 0.054482636172433 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.43, Z:-3.06 [[ 9.94449661e-01 7.72031156e-02 7.14811173e-02 2.98167936e+01] [-7.69032012e-02 9.97014393e-01 -6.94246304e-03 -1.43303651e+00] [-7.18036825e-02 1.40680327e-03 9.97417792e-01 -3.06330747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.167719421 meters 0.05275170325029746 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.42, Z:-3.07 [[ 9.93463219e-01 8.88497979e-02 7.16697029e-02 2.98489454e+01] [-8.85782582e-02 9.96044872e-01 -6.96450702e-03 -1.41507591e+00] [-7.20050351e-02 5.70604119e-04 9.97404105e-01 -3.06634884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.197719421 meters 0.05283174369600494 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.41, Z:-3.07 [[ 9.93125648e-01 9.31124476e-02 7.09332080e-02 2.98803416e+01] [-9.28571669e-02 9.95655565e-01 -6.89511451e-03 -1.40831695e+00] [-7.12670643e-02 2.61058334e-04 9.97457236e-01 -3.07067307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.227719421 meters 0.0530319564403215 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.40, Z:-3.07 [[ 9.92561958e-01 9.93863001e-02 7.03073438e-02 2.99116942e+01] [-9.91511235e-02 9.95048908e-01 -6.83564428e-03 -1.39678566e+00] [-7.06386151e-02 -1.86251663e-04 9.97501956e-01 -3.07230098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.257719421 meters 0.053696887275268106 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.40, Z:-3.08 [[ 9.92387152e-01 1.01862504e-01 6.92226190e-02 2.99401126e+01] [-1.01640708e-01 9.94798422e-01 -6.72793631e-03 -1.39536843e+00] [-6.95478766e-02 -3.59118474e-04 9.97578550e-01 -3.07925048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.287719421 meters 0.05386966237347551 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.40, Z:-3.08 [[ 9.92027032e-01 1.05203648e-01 6.93870267e-02 2.99687515e+01] [-1.04989222e-01 9.94450519e-01 -6.74010723e-03 -1.39530501e+00] [-6.97110485e-02 -5.98521342e-04 9.97567046e-01 -3.08180688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.317719421 meters 0.053848672733932484 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.40, Z:-3.08 [[ 9.91837563e-01 1.06209469e-01 7.05535050e-02 2.99972717e+01] [-1.05990742e-01 9.94343541e-01 -6.84728685e-03 -1.39723968e+00] [-7.08816687e-02 -6.86622062e-04 9.97484495e-01 -3.08368138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.347719421 meters 0.054604342059768114 Centerline is valid? [True, True] Translation: X:30.03, Y:-1.40, Z:-3.09 [[ 9.91618772e-01 1.09642074e-01 6.83434455e-02 3.00258137e+01] [-1.09445420e-01 9.93970719e-01 -6.62649778e-03 -1.39584298e+00] [-6.86579266e-02 -9.08917511e-04 9.97639846e-01 -3.08673905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.377719421 meters 0.055985925205110615 Centerline is valid? [True, True] Translation: X:30.06, Y:-1.39, Z:-3.09 [[ 9.91377853e-01 1.13587161e-01 6.53292425e-02 3.00552220e+01] [-1.13416290e-01 9.93527389e-01 -6.33036493e-03 -1.39391715e+00] [-6.56254398e-02 -1.13361669e-03 9.97843683e-01 -3.08954792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.407719421 meters 0.056474376138155584 Centerline is valid? [True, True] Translation: X:30.08, Y:-1.40, Z:-3.09 [[ 9.91157628e-01 1.15291204e-01 6.56848177e-02 3.00837008e+01] [-1.15122425e-01 9.93330942e-01 -6.36144393e-03 -1.39715338e+00] [-6.59801803e-02 -1.25660181e-03 9.97820142e-01 -3.09229952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.437719421 meters 0.055789063253037674 Centerline is valid? [True, True] Translation: X:30.11, Y:-1.41, Z:-3.09 [[ 9.90791972e-01 1.17048268e-01 6.80512341e-02 3.01116226e+01] [-1.16871642e-01 9.93125199e-01 -6.58474353e-03 -1.40819565e+00] [-6.83541282e-02 -1.42914841e-03 9.97660098e-01 -3.09196110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.467719420999998 meters 0.05598680148099706 Centerline is valid? [True, True] Translation: X:30.14, Y:-1.41, Z:-3.09 [[ 9.90617274e-01 1.17435560e-01 6.99021210e-02 3.01388970e+01] [-1.17250555e-01 9.93079370e-01 -6.75811683e-03 -1.41250496e+00] [-7.02119975e-02 -1.50135519e-03 9.97530963e-01 -3.09486627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.497719421 meters 0.056534989018190526 Centerline is valid? [True, True] Translation: X:30.17, Y:-1.42, Z:-3.10 [[ 9.90202225e-01 1.20075431e-01 7.12842559e-02 3.01668730e+01] [-1.19890485e-01 9.92763263e-01 -6.88302170e-03 -1.41822959e+00] [-7.15948723e-02 -1.73072063e-03 9.97432293e-01 -3.09685238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.527719421 meters 0.05711619560623704 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.42, Z:-3.10 [[ 9.90113348e-01 1.21025416e-01 7.09112536e-02 3.01939523e+01] [-1.20845227e-01 9.92647785e-01 -6.84149547e-03 -1.42218407e+00] [-7.12178937e-02 -1.79543055e-03 9.97459166e-01 -3.10138867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.557719420999998 meters 0.0571099941530104 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.43, Z:-3.11 [[ 9.90615966e-01 1.18710677e-01 6.77331763e-02 3.02201114e+01] [-1.18541350e-01 9.92927658e-01 -6.52798921e-03 -1.43222111e+00] [-6.80290861e-02 -1.56245179e-03 9.97682115e-01 -3.10855866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.587719421 meters 0.05544672657547954 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.45, Z:-3.11 [[ 9.91207256e-01 1.12822184e-01 6.91327056e-02 3.02480864e+01] [-1.12632152e-01 9.93614480e-01 -6.65313428e-03 -1.44613962e+00] [-6.94418784e-02 -1.19193043e-03 9.97585287e-01 -3.11023351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.617719421 meters 0.05544672657547954 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.45, Z:-3.11 [[ 9.91216679e-01 1.12739270e-01 6.91328536e-02 3.02761499e+01] [-1.12549144e-01 9.93623896e-01 -6.65159657e-03 -1.44873006e+00] [-6.94419515e-02 -1.18767003e-03 9.97585287e-01 -3.11313558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.647719420999998 meters 0.05423803380409126 Centerline is valid? [True, True] Translation: X:30.30, Y:-1.46, Z:-3.11 [[ 9.91658170e-01 1.09327533e-01 6.82756525e-02 3.03043783e+01] [-1.09134400e-01 9.94005333e-01 -6.56356759e-03 -1.45995078e+00] [-6.85839414e-02 -9.42406955e-04 9.97644904e-01 -3.11391894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.677719421 meters 0.05330229939691931 Centerline is valid? [True, True] Translation: X:30.33, Y:-1.48, Z:-3.12 [[ 9.92460241e-01 1.02962747e-01 6.64931793e-02 3.03321184e+01] [-1.02765777e-01 9.94685089e-01 -6.38504130e-03 -1.48004987e+00] [-6.67971954e-02 -4.96323580e-04 9.97766450e-01 -3.11845431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.707719421 meters 0.05326317495646565 Centerline is valid? [True, True] Translation: X:30.36, Y:-1.49, Z:-3.12 [[ 9.92818288e-01 9.94866522e-02 6.64398472e-02 3.03603462e+01] [-9.92824728e-02 9.95038861e-01 -6.37615132e-03 -1.49034709e+00] [-6.67445719e-02 -2.65952689e-04 9.97770059e-01 -3.12374570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.737719420999998 meters 0.052173662539804544 Centerline is valid? [True, True] Translation: X:30.39, Y:-1.50, Z:-3.12 [[ 9.92949393e-01 9.60438222e-02 6.94772479e-02 3.03905642e+01] [-9.58122705e-02 9.95377106e-01 -6.66528974e-03 -1.50034691e+00] [-6.97962219e-02 -3.84774756e-05 9.97561269e-01 -3.11903298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.767719421 meters 0.05195736588885217 Centerline is valid? [True, True] Translation: X:30.42, Y:-1.50, Z:-3.12 [[ 9.92632526e-01 9.71602554e-02 7.23916694e-02 3.04218328e+01] [-9.69124289e-02 9.95268741e-01 -6.93637944e-03 -1.50379693e+00] [-7.27231061e-02 -1.30376669e-04 9.97352161e-01 -3.12125839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.797719421 meters 0.05194953210903639 Centerline is valid? [True, True] Translation: X:30.45, Y:-1.51, Z:-3.12 [[ 9.92252200e-01 1.00152347e-01 7.35192407e-02 3.04540666e+01] [-9.99033621e-02 9.94972058e-01 -7.06557871e-03 -1.50956951e+00] [-7.38572245e-02 -3.33983307e-04 9.97268770e-01 -3.12314278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.827719420999998 meters 0.05236541535068425 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.51, Z:-3.13 [[ 9.92278578e-01 1.01854580e-01 7.07733626e-02 3.04855936e+01] [-1.01626725e-01 9.94799209e-01 -6.82224638e-03 -1.51333854e+00] [-7.11001621e-02 -4.22896111e-04 9.97469091e-01 -3.12978275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.857719421 meters 0.05393758990268749 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.51, Z:-3.14 [[ 9.92108703e-01 1.07196630e-01 6.50323361e-02 3.05158957e+01] [-1.07013924e-01 9.94237585e-01 -6.29646003e-03 -1.51199506e+00] [-6.53325520e-02 -7.12592678e-04 9.97863292e-01 -3.13938444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.887719421 meters 0.05526538301922137 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.51, Z:-3.15 [[ 9.91870548e-01 1.10677956e-01 6.27949445e-02 3.05452318e+01] [-1.10514392e-01 9.93855909e-01 -6.08281459e-03 -1.51139567e+00] [-6.30823602e-02 -9.06380476e-04 9.98007913e-01 -3.14638210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.917719421 meters 0.056980704594293184 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.51, Z:-3.15 [[ 9.91354135e-01 1.16290776e-01 6.07736390e-02 3.05742272e+01] [-1.16148186e-01 9.93214457e-01 -5.88570658e-03 -1.51352052e+00] [-6.10457102e-02 -1.22392837e-03 9.98134221e-01 -3.15153886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.947719421 meters 0.05729742675496752 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.52, Z:-3.15 [[ 9.91155800e-01 1.17527530e-01 6.16235356e-02 3.06023866e+01] [-1.17383225e-01 9.93068751e-01 -5.96935855e-03 -1.51755662e+00] [-6.18979715e-02 -1.31700501e-03 9.98081613e-01 -3.15318839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.977719421 meters 0.05724748077261702 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.52, Z:-3.15 [[ 9.90608971e-01 1.20674913e-01 6.42762143e-02 3.06321805e+01] [-1.20524947e-01 9.92690814e-01 -6.21977638e-03 -1.51927649e+00] [-6.45569784e-02 -1.58552104e-03 9.97912763e-01 -3.15008047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.007719421 meters 0.05764791039729503 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.52, Z:-3.15 [[ 9.90183575e-01 1.23242471e-01 6.59377108e-02 3.06608703e+01] [-1.23090572e-01 9.92374952e-01 -6.37690026e-03 -1.51974450e+00] [-6.62208376e-02 -1.80200865e-03 9.97803364e-01 -3.15049213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.037719421 meters 0.060651790647049134 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.52, Z:-3.15 [[ 9.89112122e-01 1.30542289e-01 6.79405753e-02 3.06892079e+01] [-1.30398614e-01 9.91439918e-01 -6.56436342e-03 -1.51696173e+00] [-6.82159255e-02 -2.36646540e-03 9.97667774e-01 -3.15268832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.067719421 meters 0.0638524423742313 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.51, Z:-3.16 [[ 9.88133025e-01 1.37391731e-01 6.86777744e-02 3.07194645e+01] [-1.37261972e-01 9.90512609e-01 -6.62738914e-03 -1.51472470e+00] [-6.89367500e-02 -2.87810467e-03 9.97616881e-01 -3.15626023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.097719421 meters 0.06513248056283114 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.52, Z:-3.16 [[ 9.88058653e-01 1.39081457e-01 6.63057044e-02 3.07484976e+01] [-1.38964284e-01 9.90276722e-01 -6.39864836e-03 -1.51602148e+00] [-6.65509289e-02 -2.89188483e-03 9.97778839e-01 -3.16177259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.127719421 meters 0.06404869526893193 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.52, Z:-3.17 [[ 9.88123980e-01 1.39269557e-01 6.49229535e-02 3.07763998e+01] [-1.39157824e-01 9.90250416e-01 -6.26210978e-03 -1.52205828e+00] [-6.51621029e-02 -2.84679607e-03 9.97870631e-01 -3.16530851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.157719420999996 meters 0.06587294757932842 Centerline is valid? [True, True] Translation: X:30.80, Y:-1.52, Z:-3.17 [[ 9.88014131e-01 1.39150744e-01 6.68217521e-02 3.08040249e+01] [-1.39032483e-01 9.90266882e-01 -6.43974914e-03 -1.52186619e+00] [-6.70674640e-02 -2.92783099e-03 9.97744147e-01 -3.17013066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.187719421 meters 0.06399569915586958 Centerline is valid? [True, True] Translation: X:30.83, Y:-1.53, Z:-3.17 [[ 9.87843958e-01 1.38861267e-01 6.98703367e-02 3.08328220e+01] [-1.38731893e-01 9.90307146e-01 -6.72449994e-03 -1.53049367e+00] [-7.01268663e-02 -3.05048743e-03 9.97533417e-01 -3.16779950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.217719421 meters 0.06283370072976634 Centerline is valid? [True, True] Translation: X:30.86, Y:-1.54, Z:-3.17 [[ 9.88025667e-01 1.38005874e-01 6.89902972e-02 3.08609573e+01] [-1.37878060e-01 9.90426994e-01 -6.63398815e-03 -1.53809566e+00] [-6.92453821e-02 -2.95769776e-03 9.97595273e-01 -3.16950516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.247719421 meters 0.06148615471507181 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.55, Z:-3.17 [[ 9.88268667e-01 1.35994895e-01 6.95012928e-02 3.08892098e+01] [-1.35860586e-01 9.90705459e-01 -6.67791774e-03 -1.55036193e+00] [-6.97634729e-02 -2.84290952e-03 9.97559510e-01 -3.17028870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.277719421 meters 0.06087041111208053 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.56, Z:-3.17 [[ 9.88502280e-01 1.34121153e-01 6.98194668e-02 3.09166964e+01] [-1.33981631e-01 9.90961174e-01 -6.69882281e-03 -1.55841454e+00] [-7.00868346e-02 -2.73272438e-03 9.97537151e-01 -3.17340018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.307719421 meters 0.06023175697410098 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.57, Z:-3.18 [[ 9.88932891e-01 1.31067022e-01 6.95210307e-02 3.09430181e+01] [-1.30921545e-01 9.91370330e-01 -6.66466800e-03 -1.57123855e+00] [-6.97946053e-02 -2.51089135e-03 9.97558223e-01 -3.17797048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.337719421 meters 0.060422684895124014 Centerline is valid? [True, True] Translation: X:30.97, Y:-1.58, Z:-3.18 [[ 9.88873234e-01 1.31664906e-01 6.92392909e-02 3.09710184e+01] [-1.31522650e-01 9.91290999e-01 -6.62929750e-03 -1.57773000e+00] [-6.95091317e-02 -2.55100018e-03 9.97578054e-01 -3.18054931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.367719421 meters 0.06207557907062892 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.58, Z:-3.18 [[ 9.88235659e-01 1.34567541e-01 7.26764013e-02 3.09985076e+01] [-1.34419099e-01 9.90900184e-01 -6.95209752e-03 -1.58489392e+00] [-7.29505861e-02 -2.89878573e-03 9.97331344e-01 -3.18137369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.397719421 meters 0.06342293494685267 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.59, Z:-3.18 [[ 9.87804007e-01 1.37064426e-01 7.38687170e-02 3.10273963e+01] [-1.36918744e-01 9.90557147e-01 -7.05660964e-03 -1.58894018e+00] [-7.41383958e-02 -3.14346472e-03 9.97243008e-01 -3.18334303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.427719421 meters 0.06613060926844314 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.60, Z:-3.19 [[ 9.87529147e-01 1.40920452e-01 7.01969400e-02 3.10566717e+01] [-1.40798985e-01 9.90015532e-01 -6.70022038e-03 -1.59805586e+00] [-7.04402589e-02 -3.26699499e-03 9.97510650e-01 -3.18969553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.457719421 meters 0.06652235632338603 Centerline is valid? [True, True] Translation: X:31.09, Y:-1.61, Z:-3.19 [[ 9.87488527e-01 1.42003206e-01 6.85674731e-02 3.10853512e+01] [-1.41889952e-01 9.89860807e-01 -6.54404800e-03 -1.60736613e+00] [-6.88015301e-02 -3.26686313e-03 9.97625018e-01 -3.19429301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.487719421 meters 0.06905988023420397 Centerline is valid? [True, True] Translation: X:31.11, Y:-1.62, Z:-3.20 [[ 9.87699789e-01 1.43232861e-01 6.27174100e-02 3.11124723e+01] [-1.43140710e-01 9.89684261e-01 -5.98334137e-03 -1.61890455e+00] [-6.29274446e-02 -3.06766955e-03 9.98013390e-01 -3.20358424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.517719421 meters 0.07074365471559038 Centerline is valid? [True, True] Translation: X:31.14, Y:-1.63, Z:-3.21 [[ 9.87907108e-01 1.44182978e-01 5.70159239e-02 3.11409746e+01] [-1.44108576e-01 9.89546951e-01 -5.43602702e-03 -1.62722234e+00] [-5.72037162e-02 -2.84619387e-03 9.98358470e-01 -3.21218219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.547719421 meters 0.07108391781028751 Centerline is valid? [True, True] Translation: X:31.17, Y:-1.63, Z:-3.21 [[ 9.87721679e-01 1.45074818e-01 5.79584543e-02 3.11693312e+01] [-1.44999333e-01 9.89416309e-01 -5.52820508e-03 -1.63194087e+00] [-5.81470433e-02 -2.94360923e-03 9.98303690e-01 -3.21426490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.577719421 meters 0.06832077311924806 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.65, Z:-3.21 [[ 9.87516942e-01 1.45134122e-01 6.12076537e-02 3.11987734e+01] [-1.45050568e-01 9.89407068e-01 -5.82987463e-03 -1.64601748e+00] [-6.14053989e-02 -3.12110496e-03 9.98108028e-01 -3.20992783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.607719421 meters 0.07144958222594595 Centerline is valid? [True, True] Translation: X:31.23, Y:-1.65, Z:-3.21 [[ 9.87306551e-01 1.45244004e-01 6.42647139e-02 3.12270890e+01] [-1.45152132e-01 9.89390413e-01 -6.12116137e-03 -1.64725239e+00] [-6.44719538e-02 -3.28469748e-03 9.97914114e-01 -3.21427064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.637719421 meters 0.06764803100639866 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.66, Z:-3.21 [[ 9.87276903e-01 1.43440604e-01 6.86229473e-02 3.12565619e+01] [-1.43331990e-01 9.89653124e-01 -6.52957771e-03 -1.66486195e+00] [-6.88495207e-02 -3.38936233e-03 9.97621299e-01 -3.20983168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.667719421 meters 0.06744574529205376 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.68, Z:-3.21 [[ 9.87763993e-01 1.39184612e-01 7.03557959e-02 3.12855173e+01] [-1.39059799e-01 9.90261369e-01 -6.69286841e-03 -1.67578056e+00] [-7.06021710e-02 -3.17268837e-03 9.97499508e-01 -3.21426311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.697719421 meters 0.063958919870388 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.69, Z:-3.22 [[ 9.88168144e-01 1.36376920e-01 7.01787306e-02 3.13163260e+01] [-1.36245891e-01 9.90652577e-01 -6.67293307e-03 -1.68874194e+00] [-7.04327744e-02 -2.96758376e-03 9.97512114e-01 -3.21565256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.727719420999996 meters 0.0626706752442396 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.70, Z:-3.22 [[ 9.88721376e-01 1.33150541e-01 6.85636452e-02 3.13474677e+01] [-1.33017753e-01 9.91092216e-01 -6.51903117e-03 -1.69763115e+00] [-6.88209075e-02 -2.67467654e-03 9.97625445e-01 -3.22090869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.757719421 meters 0.058892855059480664 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.72, Z:-3.23 [[ 9.90013789e-01 1.24146831e-01 6.67851978e-02 3.13767201e+01] [-1.23998419e-01 9.92261911e-01 -6.37906050e-03 -1.71677186e+00] [-6.70603481e-02 -1.96590109e-03 9.97746984e-01 -3.22557506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.787719421 meters 0.055798893900650216 Centerline is valid? [True, True] Translation: X:31.40, Y:-1.74, Z:-3.23 [[ 9.91028126e-01 1.14153068e-01 6.95149694e-02 3.14040441e+01] [-1.13967498e-01 9.93462271e-01 -6.64273777e-03 -1.73859284e+00] [-6.98187882e-02 -1.33930720e-03 9.97558792e-01 -3.22714609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.817719421 meters 0.05418164442610213 Centerline is valid? [True, True] Translation: X:31.43, Y:-1.75, Z:-3.23 [[ 9.91383823e-01 1.09529713e-01 7.18425896e-02 3.14342259e+01] [-1.09319613e-01 9.93982966e-01 -6.86185539e-03 -1.75197858e+00] [-7.21618873e-02 -1.05107167e-03 9.97392379e-01 -3.22733480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.847719421 meters 0.05328996719341742 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.76, Z:-3.23 [[ 9.91627482e-01 1.06511729e-01 7.30081427e-02 3.14654690e+01] [-1.06286886e-01 9.94311083e-01 -6.96902202e-03 -1.76272538e+00] [-7.33350880e-02 -8.49134395e-04 9.97306996e-01 -3.22867448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.877719421 meters 0.051815962530586256 Centerline is valid? [True, True] Translation: X:31.50, Y:-1.78, Z:-3.23 [[ 9.92046181e-01 9.99674096e-02 7.64911242e-02 3.14951193e+01] [-9.96987174e-02 9.94990650e-01 -7.33295574e-03 -1.77583846e+00] [-7.68410099e-02 -3.51436233e-04 9.97043297e-01 -3.22801800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.907719420999996 meters 0.05158629273981298 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.78, Z:-3.23 [[ 9.92118785e-01 9.90680783e-02 7.67191847e-02 3.15282708e+01] [-9.87956092e-02 9.95080616e-01 -7.34815773e-03 -1.78069511e+00] [-7.70697414e-02 -2.89273273e-04 9.97025662e-01 -3.22926361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.937719421 meters 0.051970263320154364 Centerline is valid? [True, True] Translation: X:31.56, Y:-1.78, Z:-3.24 [[ 9.91918399e-01 1.01160305e-01 7.65799101e-02 3.15598638e+01] [-1.00892924e-01 9.94870048e-01 -7.36236395e-03 -1.78138175e+00] [-7.69318378e-02 -4.23506821e-04 9.97036265e-01 -3.23541990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.967719421 meters 0.05270263145283977 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.78, Z:-3.24 [[ 9.91212527e-01 1.08101731e-01 7.62347829e-02 3.15924449e+01] [-1.07855296e-01 9.94139400e-01 -7.35450420e-03 -1.77665512e+00] [-7.65830359e-02 -9.32448395e-04 9.97062771e-01 -3.23731785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.997719421 meters 0.05338367543102136 Centerline is valid? [True, True] Translation: X:31.62, Y:-1.78, Z:-3.24 [[ 9.90845182e-01 1.11355773e-01 7.63263848e-02 3.16245807e+01] [-1.11116592e-01 9.93779926e-01 -7.38658748e-03 -1.77513998e+00] [-7.66741682e-02 -1.16216318e-03 9.97055526e-01 -3.24159829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.027719421 meters 0.0555911465891793 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.77, Z:-3.25 [[ 9.90209072e-01 1.17919121e-01 7.47065848e-02 3.16548666e+01] [-1.17706337e-01 9.93021907e-01 -7.26023235e-03 -1.76501326e+00] [-7.50413955e-02 -1.60429051e-03 9.97179129e-01 -3.24799051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.057719421 meters 0.058808640893735824 Centerline is valid? [True, True] Translation: X:31.69, Y:-1.75, Z:-3.25 [[ 9.89509244e-01 1.25609388e-01 7.13704252e-02 3.16851624e+01] [-1.25435104e-01 9.92077577e-01 -6.93651965e-03 -1.75476777e+00] [-7.16762905e-02 -2.08860642e-03 9.97425760e-01 -3.25431254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.087719421 meters 0.06117846120548407 Centerline is valid? [True, True] Translation: X:31.72, Y:-1.75, Z:-3.26 [[ 9.89153612e-01 1.30004739e-01 6.83659290e-02 3.17159189e+01] [-1.29855451e-01 9.91510687e-01 -6.64219239e-03 -1.75089128e+00] [-6.86490658e-02 -2.30753993e-03 9.97638201e-01 -3.25980824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.117719421 meters 0.0614591530032573 Centerline is valid? [True, True] Translation: X:31.75, Y:-1.75, Z:-3.26 [[ 9.88760937e-01 1.33937159e-01 6.64277543e-02 3.17469105e+01] [-1.33804978e-01 9.90986659e-01 -6.45516667e-03 -1.75178541e+00] [-6.66936050e-02 -2.50574758e-03 9.97770356e-01 -3.26188163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.147719421 meters 0.06478276823475425 Centerline is valid? [True, True] Translation: X:31.78, Y:-1.75, Z:-3.27 [[ 9.88239344e-01 1.39307002e-01 6.30599549e-02 3.17764208e+01] [-1.39198685e-01 9.90245504e-01 -6.12932380e-03 -1.74672918e+00] [-6.32986945e-02 -2.72062385e-03 9.97990919e-01 -3.26880043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.177719421 meters 0.06829944389523823 Centerline is valid? [True, True] Translation: X:31.81, Y:-1.74, Z:-3.27 [[ 9.87709118e-01 1.41595670e-01 6.61918756e-02 3.18074329e+01] [-1.41481988e-01 9.89919975e-01 -6.42574684e-03 -1.74306511e+00] [-6.64345178e-02 -3.01818942e-03 9.97786222e-01 -3.27332992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.207719421 meters 0.06513392642804224 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.75, Z:-3.27 [[ 9.87338009e-01 1.42497956e-01 6.96992720e-02 3.18401096e+01] [-1.42372301e-01 9.89789870e-01 -6.79273854e-03 -1.75153034e+00] [-6.99555847e-02 -3.21651676e-03 9.97544921e-01 -3.26861772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.237719421 meters 0.06626232334126414 Centerline is valid? [True, True] Translation: X:31.87, Y:-1.76, Z:-3.27 [[ 9.86827925e-01 1.44702472e-01 7.23314619e-02 3.18718065e+01] [-1.44572910e-01 9.89469026e-01 -7.05126968e-03 -1.75597311e+00] [-7.25900773e-02 -3.49878013e-03 9.97355724e-01 -3.27001957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.267719421 meters 0.06667869756741852 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.76, Z:-3.27 [[ 9.86898919e-01 1.45243934e-01 7.02475796e-02 3.19028596e+01] [-1.45121458e-01 9.89389988e-01 -6.87119151e-03 -1.76174825e+00] [-7.05002508e-02 -3.41325967e-03 9.97505922e-01 -3.27485531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.297719421 meters 0.06704392618419566 Centerline is valid? [True, True] Translation: X:31.93, Y:-1.77, Z:-3.28 [[ 9.87238688e-01 1.44006841e-01 6.79838405e-02 3.19339866e+01] [-1.43887819e-01 9.89571527e-01 -6.66993367e-03 -1.76813348e+00] [-6.82353889e-02 -3.19722996e-03 9.97664127e-01 -3.28236657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.327719421 meters 0.0643166029870908 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.78, Z:-3.28 [[ 9.87659614e-01 1.38708233e-01 7.27221687e-02 3.19624650e+01] [-1.38555998e-01 9.90328729e-01 -7.15853954e-03 -1.77949819e+00] [-7.30118013e-02 -3.00589226e-03 9.97326547e-01 -3.28078635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.357719421 meters 0.060990004717545454 Centerline is valid? [True, True] Translation: X:31.99, Y:-1.79, Z:-3.28 [[ 9.88031542e-01 1.35002786e-01 7.46184998e-02 3.19923722e+01] [-1.34832185e-01 9.90841244e-01 -7.34236782e-03 -1.79314368e+00] [-7.49263273e-02 -2.80648441e-03 9.97185123e-01 -3.27994856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.387719421 meters 0.05896844818413906 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.80, Z:-3.28 [[ 9.88502648e-01 1.31294013e-01 7.49959841e-02 3.20227286e+01] [-1.31111058e-01 9.91340223e-01 -7.37916704e-03 -1.80467030e+00] [-7.53153760e-02 -2.53847665e-03 9.97156532e-01 -3.28205198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.417719421 meters 0.05596694979668946 Centerline is valid? [True, True] Translation: X:32.05, Y:-1.82, Z:-3.29 [[ 9.90115321e-01 1.20523628e-01 7.17335804e-02 3.20505528e+01] [-1.20327336e-01 9.92709114e-01 -7.06733551e-03 -1.81990391e+00] [-7.20623600e-02 -1.63403346e-03 9.97398790e-01 -3.28985458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.447719421 meters 0.05426187399904532 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.84, Z:-3.30 [[ 9.91469540e-01 1.09247437e-01 7.10854996e-02 3.20792756e+01] [-1.09025798e-01 9.94014258e-01 -7.00215616e-03 -1.83506425e+00] [-7.14249677e-02 -8.07728762e-04 9.97445648e-01 -3.29953164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.477719420999996 meters 0.05353848446315702 Centerline is valid? [True, True] Translation: X:32.11, Y:-1.85, Z:-3.30 [[ 9.92080948e-01 1.04075430e-01 7.03114317e-02 3.21104891e+01] [-1.03845935e-01 9.94569312e-01 -6.92141129e-03 -1.84595215e+00] [-7.06499410e-02 -4.34956112e-04 9.97501076e-01 -3.30383403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.507719421 meters 0.05266347949263639 Centerline is valid? [True, True] Translation: X:32.14, Y:-1.86, Z:-3.30 [[ 9.92859828e-01 9.67348634e-02 6.97977661e-02 3.21430641e+01] [-9.64893828e-02 9.95310180e-01 -6.88793246e-03 -1.85858555e+00] [-7.01367304e-02 1.04008060e-04 9.97537382e-01 -3.30102153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.537719421 meters 0.05266347949263639 Centerline is valid? [True, True] Translation: X:32.18, Y:-1.86, Z:-3.30 [[ 9.92826191e-01 9.70812155e-02 6.97953546e-02 3.21752396e+01] [-9.68348794e-02 9.95276457e-01 -6.91226299e-03 -1.86204848e+00] [-7.01367241e-02 1.04050997e-04 9.97537382e-01 -3.30435321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.567719421 meters 0.052640848118486266 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.87, Z:-3.31 [[ 9.92878199e-01 9.61727553e-02 7.03113232e-02 3.22058962e+01] [-9.59185604e-02 9.95364638e-01 -6.99051261e-03 -1.86552751e+00] [-7.06577016e-02 1.96566672e-04 9.97500602e-01 -3.30699653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.597719421 meters 0.052068000474059344 Centerline is valid? [True, True] Translation: X:32.24, Y:-1.86, Z:-3.31 [[ 9.92265973e-01 9.93448600e-02 7.44233611e-02 3.22368467e+01] [-9.90666856e-02 9.95053063e-01 -7.42919907e-03 -1.86099955e+00] [-7.47932462e-02 -1.13427293e-06 9.97199063e-01 -3.30586740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.627719421 meters 0.05229263318248116 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.85, Z:-3.31 [[ 9.91583504e-01 1.06386581e-01 7.37838089e-02 3.22700926e+01] [-1.06133094e-01 9.94324701e-01 -7.35906079e-03 -1.85344839e+00] [-7.41479691e-02 -5.33780670e-04 9.97247108e-01 -3.30825469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.657719420999996 meters 0.053330768119265765 Centerline is valid? [True, True] Translation: X:32.30, Y:-1.85, Z:-3.32 [[ 9.91265287e-01 1.10246001e-01 7.23805865e-02 3.23013794e+01] [-1.10010746e-01 9.93904021e-01 -7.24103061e-03 -1.84974522e+00] [-7.27376507e-02 -7.84860032e-04 9.97350800e-01 -3.31626020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.687719421 meters 0.05451037602758028 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.85, Z:-3.32 [[ 9.90703600e-01 1.15174108e-01 7.23968381e-02 3.23329721e+01] [-1.14950385e-01 9.93344681e-01 -7.26312421e-03 -1.84597597e+00] [-7.27515379e-02 -1.12644111e-03 9.97349460e-01 -3.32087143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.717719421 meters 0.05474334727795812 Centerline is valid? [True, True] Translation: X:32.37, Y:-1.85, Z:-3.32 [[ 9.90273582e-01 1.17369464e-01 7.47170828e-02 3.23652664e+01] [-1.17135873e-01 9.93087456e-01 -7.51611163e-03 -1.84878763e+00] [-7.50827596e-02 -1.30904394e-03 9.97176447e-01 -3.32260493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.747719421 meters 0.05483618143002905 Centerline is valid? [True, True] Translation: X:32.40, Y:-1.85, Z:-3.32 [[ 9.89512830e-01 1.22959263e-01 7.57982830e-02 3.23978887e+01] [-1.22733608e-01 9.92410198e-01 -7.64590613e-03 -1.85166004e+00] [-7.61631241e-02 -1.73727456e-03 9.97093857e-01 -3.31952815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.777719421 meters 0.05804824948135206 Centerline is valid? [True, True] Translation: X:32.43, Y:-1.85, Z:-3.33 [[ 9.89205942e-01 1.26653506e-01 7.36918871e-02 3.24279696e+01] [-1.26448197e-01 9.91945132e-01 -7.46378224e-03 -1.84532155e+00] [-7.40436229e-02 -1.93498855e-03 9.97253126e-01 -3.32886827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.807719421 meters 0.05803802654282749 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.85, Z:-3.33 [[ 9.88905600e-01 1.30564175e-01 7.08428536e-02 3.24590503e+01] [-1.30384571e-01 9.91437544e-01 -7.17351971e-03 -1.84630522e+00] [-7.11728695e-02 -2.14288128e-03 9.97461694e-01 -3.33039616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.837719421 meters 0.061549997154845035 Centerline is valid? [True, True] Translation: X:32.49, Y:-1.84, Z:-3.33 [[ 9.87830657e-01 1.38519354e-01 7.07317578e-02 3.24908786e+01] [-1.38360260e-01 9.90356029e-01 -7.16752030e-03 -1.83745870e+00] [-7.10424631e-02 -2.70616810e-03 9.97469621e-01 -3.33440256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.867719421 meters 0.06518985298387368 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.83, Z:-3.34 [[ 9.86867612e-01 1.44670149e-01 7.18530732e-02 3.25208587e+01] [-1.44522130e-01 9.89474771e-01 -7.28226049e-03 -1.83216617e+00] [-7.21503288e-02 -3.19773219e-03 9.97388643e-01 -3.33916146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.897719421 meters 0.07176858238291071 Centerline is valid? [True, True] Translation: X:32.55, Y:-1.83, Z:-3.35 [[ 9.86481456e-01 1.47549287e-01 7.12989865e-02 3.25510259e+01] [-1.47411078e-01 9.89048920e-01 -7.22546285e-03 -1.82576081e+00] [-7.15842975e-02 -3.38247531e-03 9.97428818e-01 -3.34872138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.927719421 meters 0.06568206553241936 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.84, Z:-3.34 [[ 9.86065537e-01 1.49520850e-01 7.29264871e-02 3.25826573e+01] [-1.49382116e-01 9.88751972e-01 -7.38385439e-03 -1.84380877e+00] [-7.32102481e-02 -3.61294862e-03 9.97309985e-01 -3.34285709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.957719421 meters 0.06566943883660391 Centerline is valid? [True, True] Translation: X:32.61, Y:-1.85, Z:-3.35 [[ 9.86193139e-01 1.48395315e-01 7.34977801e-02 3.26134947e+01] [-1.48249576e-01 9.88921807e-01 -7.46482880e-03 -1.84715919e+00] [-7.37913031e-02 -3.53425176e-03 9.97267443e-01 -3.34692445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.987719421 meters 0.06966980655423669 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.84, Z:-3.36 [[ 9.86956763e-01 1.44049930e-01 7.18746541e-02 3.26433022e+01] [-1.43897107e-01 9.89565530e-01 -7.32695135e-03 -1.84112270e+00] [-7.21801270e-02 -3.11117059e-03 9.97386760e-01 -3.35904354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.017719421 meters 0.06202877559569474 Centerline is valid? [True, True] Translation: X:32.67, Y:-1.86, Z:-3.36 [[ 9.87505519e-01 1.41229743e-01 6.99071482e-02 3.26747168e+01] [-1.41078216e-01 9.89972813e-01 -7.12500271e-03 -1.85942175e+00] [-7.02124385e-02 -2.82639628e-03 9.97528057e-01 -3.35647528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.047719421 meters 0.06064858335933167 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.87, Z:-3.36 [[ 9.88522201e-01 1.33210755e-01 7.12653665e-02 3.27030919e+01] [-1.33031626e-01 9.91085090e-01 -7.27529830e-03 -1.87186781e+00] [-7.15991902e-02 -2.28875371e-03 9.97430859e-01 -3.36329999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.077719421 meters 0.05741028487682933 Centerline is valid? [True, True] Translation: X:32.73, Y:-1.89, Z:-3.37 [[ 9.89754319e-01 1.24078342e-01 7.06466769e-02 3.27312149e+01] [-1.23879200e-01 9.92271110e-01 -7.21024996e-03 -1.88987852e+00] [-7.09952924e-02 -1.61527781e-03 9.97475343e-01 -3.36668231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.107719421 meters 0.05456329914375867 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.90, Z:-3.36 [[ 9.90302492e-01 1.19957816e-01 7.00792170e-02 3.27626069e+01] [-1.19752257e-01 9.92778114e-01 -7.14242934e-03 -1.90232768e+00] [-7.04299031e-02 -1.31897881e-03 9.97515859e-01 -3.36473704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.137719421 meters 0.053437709052095134 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.91, Z:-3.37 [[ 9.91317165e-01 1.11845982e-01 6.91430000e-02 3.27930796e+01] [-1.11624682e-01 9.93725299e-01 -7.06822534e-03 -1.91402657e+00] [-6.94997010e-02 -7.11212269e-04 9.97581719e-01 -3.36900100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.167719421 meters 0.053108326417392174 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.92, Z:-3.37 [[ 9.91815290e-01 1.07539906e-01 6.88302236e-02 3.28246463e+01] [-1.07308763e-01 9.94200694e-01 -7.05761457e-03 -1.92288704e+00] [-6.91900312e-02 -3.86236083e-04 9.97603423e-01 -3.37258470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.197719421 meters 0.05249718495177114 Centerline is valid? [True, True] Translation: X:32.86, Y:-1.94, Z:-3.37 [[ 9.92448981e-01 1.00517749e-01 7.02936815e-02 3.28562266e+01] [-1.00257508e-01 9.94935257e-01 -7.22953548e-03 -1.93668035e+00] [-7.06643587e-02 1.27475813e-04 9.97500141e-01 -3.37161711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.227719420999996 meters 0.052441506163067 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.94, Z:-3.37 [[ 9.92606409e-01 9.81980251e-02 7.13418902e-02 3.28874274e+01] [-9.79223094e-02 9.95166843e-01 -7.36042716e-03 -1.94319209e+00] [-7.17198630e-02 3.20044527e-04 9.97424763e-01 -3.37292355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.257719421 meters 0.05260769224343725 Centerline is valid? [True, True] Translation: X:32.92, Y:-1.95, Z:-3.37 [[ 9.92992321e-01 9.30873785e-02 7.28078954e-02 3.29202211e+01] [-9.27848674e-02 9.95657679e-01 -7.53355522e-03 -1.94747787e+00] [-7.31930190e-02 7.25291564e-04 9.97317530e-01 -3.37411862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.287719421 meters 0.05284801994281885 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.95, Z:-3.38 [[ 9.93040281e-01 9.09323944e-02 7.48485091e-02 3.29522443e+01] [-9.06043363e-02 9.95856626e-01 -7.77399368e-03 -1.95113635e+00] [-7.52452916e-02 9.38289377e-04 9.97164613e-01 -3.37572029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.317719421 meters 0.0532989611692937 Centerline is valid? [True, True] Translation: X:32.98, Y:-1.95, Z:-3.38 [[ 9.93139138e-01 8.95527902e-02 7.51994023e-02 3.29837317e+01] [-8.92159519e-02 9.95981502e-01 -7.83342389e-03 -1.95483800e+00] [-7.55987185e-02 1.07069359e-03 9.97137747e-01 -3.37884921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.347719421 meters 0.05259320124963013 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.95, Z:-3.38 [[ 9.92736133e-01 9.48452973e-02 7.40225691e-02 3.30163772e+01] [-9.45317964e-02 9.95491791e-01 -7.73527396e-03 -1.94730600e+00] [-7.44225142e-02 6.81599529e-04 9.97226566e-01 -3.38280786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.377719421 meters 0.05207740107031196 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.94, Z:-3.39 [[ 9.92230532e-01 9.97698507e-02 7.43273067e-02 3.30495159e+01] [-9.94658000e-02 9.95010484e-01 -7.79045855e-03 -1.94039649e+00] [-7.47337023e-02 3.36905808e-04 9.97203470e-01 -3.38600956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.407719420999996 meters 0.05193736339219186 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.92, Z:-3.39 [[ 9.90686392e-01 1.10897587e-01 7.90075791e-02 3.30824516e+01] [-1.10586618e-01 9.93831713e-01 -8.31415852e-03 -1.92076391e+00] [-7.94422578e-02 -5.00457275e-04 9.96839344e-01 -3.38681636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.437719421 meters 0.05243744752374151 Centerline is valid? [True, True] Translation: X:33.12, Y:-1.92, Z:-3.39 [[ 9.90034641e-01 1.15488311e-01 8.05844836e-02 3.31159531e+01] [-1.15180367e-01 9.93308439e-01 -8.47509699e-03 -1.91674664e+00] [-8.10240223e-02 -8.91110771e-04 9.96711751e-01 -3.38960361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.467719421 meters 0.05267978556796791 Centerline is valid? [True, True] Translation: X:33.15, Y:-1.91, Z:-3.39 [[ 9.89461469e-01 1.18812602e-01 8.27621121e-02 3.31490864e+01] [-1.18496916e-01 9.92916012e-01 -8.73349382e-03 -1.91495445e+00] [-8.32134754e-02 -1.16559940e-03 9.96531063e-01 -3.39063693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.497719421 meters 0.052598595122791254 Centerline is valid? [True, True] Translation: X:33.18, Y:-1.92, Z:-3.40 [[ 9.89496217e-01 1.18555105e-01 8.27159201e-02 3.31806623e+01] [-1.18236467e-01 9.92946849e-01 -8.75746292e-03 -1.91670984e+00] [-8.31707542e-02 -1.11456172e-03 9.96534688e-01 -3.39506930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.527719421 meters 0.05234383293729518 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.92, Z:-3.40 [[ 9.89841308e-01 1.17126541e-01 8.05950238e-02 3.32123988e+01] [-1.16817267e-01 9.93116551e-01 -8.55822474e-03 -1.91542396e+00] [-8.10426473e-02 -9.43606012e-04 9.96710188e-01 -3.40084219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.557719421 meters 0.05288197276179426 Centerline is valid? [True, True] Translation: X:33.24, Y:-1.91, Z:-3.41 [[ 9.89808563e-01 1.18953819e-01 7.82879116e-02 3.32440133e+01] [-1.18665854e-01 9.92899245e-01 -8.33689579e-03 -1.91432063e+00] [-7.87237139e-02 -1.03817107e-03 9.96895932e-01 -3.40652695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.587719421 meters 0.056059604886770927 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.91, Z:-3.42 [[ 9.89253712e-01 1.27381616e-01 7.17705839e-02 3.32738422e+01] [-1.27159783e-01 9.91852588e-01 -7.67025143e-03 -1.90656942e+00] [-7.21628884e-02 -1.53850717e-03 9.97391674e-01 -3.41785778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.617719421 meters 0.057889466876906374 Centerline is valid? [True, True] Translation: X:33.30, Y:-1.90, Z:-3.42 [[ 9.88739443e-01 1.32440232e-01 6.96699234e-02 3.33046981e+01] [-1.32243987e-01 9.91189257e-01 -7.44209229e-03 -1.90403024e+00] [-7.00417121e-02 -1.85513822e-03 9.97542338e-01 -3.42351497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.647719421 meters 0.0610683326751498 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.90, Z:-3.43 [[ 9.87427760e-01 1.41263610e-01 7.09296217e-02 3.33368845e+01] [-1.41082572e-01 9.89968806e-01 -7.58102923e-03 -1.89548013e+00] [-7.12890364e-02 -2.52121474e-03 9.97452514e-01 -3.42571274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.677719421 meters 0.06288447558917824 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.89, Z:-3.43 [[ 9.86846833e-01 1.44844526e-01 7.17871235e-02 3.33676460e+01] [-1.44668169e-01 9.89450441e-01 -7.67763558e-03 -1.89270450e+00] [-7.21418645e-02 -2.80866136e-03 9.97390426e-01 -3.42948035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.707719421 meters 0.06283508981929052 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.89, Z:-3.43 [[ 9.86323648e-01 1.48622978e-01 7.12521745e-02 3.33993359e+01] [-1.48459009e-01 9.88889195e-01 -7.62118602e-03 -1.89298677e+00] [-7.15931889e-02 -3.06107119e-03 9.97429218e-01 -3.43160796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.737719421 meters 0.06475536084251877 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.90, Z:-3.44 [[ 9.86808349e-01 1.46078174e-01 6.97886122e-02 3.34296933e+01] [-1.45914860e-01 9.89269025e-01 -7.45981491e-03 -1.89691342e+00] [-7.01294285e-02 -2.82178798e-03 9.97533910e-01 -3.44219147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.767719421 meters 0.06325911463151523 Centerline is valid? [True, True] Translation: X:33.46, Y:-1.91, Z:-3.45 [[ 9.87312150e-01 1.43159423e-01 6.87029663e-02 3.34595052e+01] [-1.42992170e-01 9.89696367e-01 -7.37165052e-03 -1.90778205e+00] [-6.90503974e-02 -2.54586612e-03 9.97609924e-01 -3.44598045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.797719421 meters 0.05821001631045603 Centerline is valid? [True, True] Translation: X:33.49, Y:-1.93, Z:-3.45 [[ 9.88456575e-01 1.34955662e-01 6.88517879e-02 3.34887801e+01] [-1.34767559e-01 9.90849674e-01 -7.39114421e-03 -1.92993337e+00] [-6.92192484e-02 -1.97316229e-03 9.97599520e-01 -3.44579307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.827719421 meters 0.05626519683563021 Centerline is valid? [True, True] Translation: X:33.52, Y:-1.94, Z:-3.45 [[ 9.88925042e-01 1.30536005e-01 7.06230329e-02 3.35198240e+01] [-1.30326828e-01 9.91442101e-01 -7.58149409e-03 -1.93973241e+00] [-7.10083061e-02 -1.70654647e-03 9.97474264e-01 -3.44746590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.857719421 meters 0.05445727455336738 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.95, Z:-3.45 [[ 9.89625831e-01 1.24525435e-01 7.16528416e-02 3.35501055e+01] [-1.24293966e-01 9.92215580e-01 -7.69762803e-03 -1.94896608e+00] [-7.20536163e-02 -1.28824435e-03 9.97399928e-01 -3.44954089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.887719421 meters 0.054366284267839335 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.95, Z:-3.45 [[ 9.89889156e-01 1.22698545e-01 7.11654799e-02 3.35810630e+01] [-1.22465857e-01 9.92443318e-01 -7.64031952e-03 -1.95469139e+00] [-7.15651611e-02 -1.15227206e-03 9.97435261e-01 -3.45381115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.917719421 meters 0.054040917674218224 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.97, Z:-3.46 [[ 9.90407616e-01 1.19800866e-01 6.88513419e-02 3.36121059e+01] [-1.19574660e-01 9.92797541e-01 -7.41236550e-03 -1.96644626e+00] [-6.92434508e-02 -8.91612524e-04 9.97599393e-01 -3.45813045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.947719421 meters 0.05390030862907994 Centerline is valid? [True, True] Translation: X:33.64, Y:-1.97, Z:-3.46 [[ 9.90574331e-01 1.18682480e-01 6.83883234e-02 3.36444001e+01] [-1.18455302e-01 9.92931945e-01 -7.38201321e-03 -1.97431795e+00] [-6.87810666e-02 -7.88526736e-04 9.97631467e-01 -3.46256872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.977719420999996 meters 0.05350087288431502 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.98, Z:-3.47 [[ 9.90909839e-01 1.16671790e-01 6.69730113e-02 3.36758207e+01] [-1.16447685e-01 9.93170338e-01 -7.25373376e-03 -1.98155177e+00] [-6.73619144e-02 -6.11055971e-04 9.97728420e-01 -3.46559229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.007719421 meters 0.05369436951914297 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.98, Z:-3.47 [[ 9.91056491e-01 1.14642817e-01 6.82939027e-02 3.37067233e+01] [-1.14403412e-01 9.93406670e-01 -7.41933102e-03 -1.98403795e+00] [-6.86941915e-02 -4.60079331e-04 9.97637658e-01 -3.47265007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.037719421 meters 0.05308744250321324 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.99, Z:-3.47 [[ 9.90999312e-01 1.14626747e-01 6.91452962e-02 3.37388792e+01] [-1.14379950e-01 9.93408531e-01 -7.53104490e-03 -1.98941612e+00] [-6.95527863e-02 -4.45575216e-04 9.97578173e-01 -3.47137689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.067719421 meters 0.05279327845559027 Centerline is valid? [True, True] Translation: X:33.77, Y:-2.00, Z:-3.47 [[ 9.90865356e-01 1.14612128e-01 7.10626915e-02 3.37703257e+01] [-1.14349814e-01 9.93410223e-01 -7.76202077e-03 -1.99859069e+00] [-7.14840260e-02 -4.34888078e-04 9.97441650e-01 -3.47223315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.097719421 meters 0.052572587980096695 Centerline is valid? [True, True] Translation: X:33.80, Y:-2.00, Z:-3.47 [[ 9.90603110e-01 1.16123378e-01 7.22553798e-02 3.38019532e+01] [-1.15854534e-01 9.93234655e-01 -7.91499836e-03 -2.00364384e+00] [-7.26856635e-02 -5.30491359e-04 9.97354758e-01 -3.47379705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.127719421 meters 0.0523038707255721 Centerline is valid? [True, True] Translation: X:33.83, Y:-2.01, Z:-3.47 [[ 9.89907516e-01 1.19181176e-01 7.66743543e-02 3.38334243e+01] [-1.18885501e-01 9.92872221e-01 -8.42560133e-03 -2.00503066e+00] [-7.71320095e-02 -7.74902947e-04 9.97020588e-01 -3.47363014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.157719420999996 meters 0.05233253865448182 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.01, Z:-3.48 [[ 9.89594897e-01 1.21134863e-01 7.76420249e-02 3.38667117e+01] [-1.20836013e-01 9.92635634e-01 -8.55308785e-03 -2.00761165e+00] [-7.81063177e-02 -9.17860667e-04 9.96944613e-01 -3.47565833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.187719421 meters 0.053120499459287845 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.01, Z:-3.48 [[ 9.89264351e-01 1.24541781e-01 7.64551453e-02 3.38979635e+01] [-1.24259950e-01 9.92213709e-01 -8.45102311e-03 -2.00915010e+00] [-7.69123488e-02 -1.14001665e-03 9.97037206e-01 -3.48084123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.217719421 meters 0.053507538451032004 Centerline is valid? [True, True] Translation: X:33.93, Y:-2.01, Z:-3.48 [[ 9.89042026e-01 1.26593692e-01 7.59599098e-02 3.39293139e+01] [-1.26319632e-01 9.91953846e-01 -8.42122543e-03 -2.01214770e+00] [-7.64147988e-02 -1.26628198e-03 9.97075311e-01 -3.48460809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.247719421 meters 0.05346363584564432 Centerline is valid? [True, True] Translation: X:33.96, Y:-2.02, Z:-3.49 [[ 9.88787579e-01 1.27509195e-01 7.77208346e-02 3.39609033e+01] [-1.27224312e-01 9.91836458e-01 -8.62637406e-03 -2.01624701e+00] [-7.81862993e-02 -1.35832817e-03 9.96937840e-01 -3.48664689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.277719421 meters 0.05339395969570755 Centerline is valid? [True, True] Translation: X:33.99, Y:-2.02, Z:-3.49 [[ 9.88277650e-01 1.28916791e-01 8.17786501e-02 3.39926383e+01] [-1.28603935e-01 9.91654249e-01 -9.10370564e-03 -2.01844605e+00] [-8.22697664e-02 -1.52006737e-03 9.96608938e-01 -3.48581803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.307719421 meters 0.053827481374793 Centerline is valid? [True, True] Translation: X:34.03, Y:-2.02, Z:-3.49 [[ 9.87807711e-01 1.31250560e-01 8.37210675e-02 3.40253114e+01] [-1.30929068e-01 9.91347713e-01 -9.34292327e-03 -2.02033463e+00] [-8.42229527e-02 -1.73250972e-03 9.96445429e-01 -3.48685610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.337719420999996 meters 0.056753755249919435 Centerline is valid? [True, True] Translation: X:34.06, Y:-2.02, Z:-3.49 [[ 9.86802573e-01 1.39436999e-01 8.23286407e-02 3.40557625e+01] [-1.39151667e-01 9.90228141e-01 -9.22179007e-03 -2.01537601e+00] [-8.28099956e-02 -2.35608144e-03 9.96562569e-01 -3.48998184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.367719421 meters 0.05925068596025207 Centerline is valid? [True, True] Translation: X:34.09, Y:-2.01, Z:-3.49 [[ 9.86170936e-01 1.44556964e-01 8.10565759e-02 3.40869773e+01] [-1.44297657e-01 9.89492678e-01 -9.07887111e-03 -2.01245492e+00] [-8.15173024e-02 -2.74295518e-03 9.96668152e-01 -3.49454854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.397719421 meters 0.06345444888220504 Centerline is valid? [True, True] Translation: X:34.12, Y:-2.00, Z:-3.51 [[ 9.85395644e-01 1.52204204e-01 7.63498905e-02 3.41178617e+01] [-1.51996856e-01 9.88343964e-01 -8.55360138e-03 -2.00236581e+00] [-7.67618475e-02 -3.17626179e-03 9.97044397e-01 -3.50520487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.427719421 meters 0.06345444888220504 Centerline is valid? [True, True] Translation: X:34.15, Y:-2.01, Z:-3.51 [[ 9.85345655e-01 1.52527035e-01 7.63507888e-02 3.41500341e+01] [-1.52321272e-01 9.88294087e-01 -8.54559576e-03 -2.00625766e+00] [-7.67604675e-02 -3.20948364e-03 9.97044397e-01 -3.50854071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.457719421 meters 0.06562963700140512 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.00, Z:-3.51 [[ 9.85111315e-01 1.55206874e-01 7.39359379e-02 3.41804723e+01] [-1.55019027e-01 9.87876553e-01 -8.30766477e-03 -2.00334719e+00] [-7.43289861e-02 -3.27750255e-03 9.97228389e-01 -3.51496667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.487719421 meters 0.06655779369976521 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.01, Z:-3.52 [[ 9.84904288e-01 1.56126818e-01 7.47526652e-02 3.42102033e+01] [-1.55937476e-01 9.87731219e-01 -8.39895004e-03 -2.00521308e+00] [-7.51468425e-02 -3.38458004e-03 9.97166735e-01 -3.51814549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.517719421 meters 0.0641837845770287 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.02, Z:-3.52 [[ 9.85589061e-01 1.51519641e-01 7.52063898e-02 3.42387933e+01] [-1.51313864e-01 9.88449567e-01 -8.45983216e-03 -2.02151454e+00] [-7.56195541e-02 -3.04185143e-03 9.97132103e-01 -3.52091531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.547719421 meters 0.06297166935171535 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.03, Z:-3.53 [[ 9.86279236e-01 1.48305813e-01 7.25165873e-02 3.42692592e+01] [-1.48106425e-01 9.88937855e-01 -8.14904296e-03 -2.03065875e+00] [-7.29229487e-02 -2.70294061e-03 9.97333915e-01 -3.52814698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.577719421 meters 0.05976679897918682 Centerline is valid? [True, True] Translation: X:34.30, Y:-2.04, Z:-3.54 [[ 9.87719671e-01 1.39992829e-01 6.93675637e-02 3.42985336e+01] [-1.39788079e-01 9.90150555e-01 -7.82126525e-03 -2.04144593e+00] [-6.97792527e-02 -1.97154093e-03 9.97560509e-01 -3.53764454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.607719421 meters 0.058233586194378 Centerline is valid? [True, True] Translation: X:34.33, Y:-2.05, Z:-3.54 [[ 9.88234378e-01 1.36412375e-01 6.91699155e-02 3.43303773e+01] [-1.36199979e-01 9.90650660e-01 -7.79975222e-03 -2.05039181e+00] [-6.95872052e-02 -1.71295773e-03 9.97574402e-01 -3.54077649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.637719421 meters 0.05677585309648528 Centerline is valid? [True, True] Translation: X:34.36, Y:-2.06, Z:-3.54 [[ 9.88681213e-01 1.32257748e-01 7.08332296e-02 3.43593836e+01] [-1.32023653e-01 9.91214306e-01 -7.99719095e-03 -2.06275008e+00] [-7.12686010e-02 -1.44498925e-03 9.97456114e-01 -3.54262775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.667719421 meters 0.05526170461980237 Centerline is valid? [True, True] Translation: X:34.39, Y:-2.07, Z:-3.54 [[ 9.88881774e-01 1.31408116e-01 6.96042005e-02 3.43907086e+01] [-1.31180528e-01 9.91327412e-01 -7.85059816e-03 -2.07233038e+00] [-7.00321843e-02 -1.36740234e-03 9.97543795e-01 -3.54139358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.697719421 meters 0.054643283966396596 Centerline is valid? [True, True] Translation: X:34.42, Y:-2.08, Z:-3.54 [[ 9.89192192e-01 1.29194647e-01 6.93365077e-02 3.44222659e+01] [-1.28961901e-01 9.91618545e-01 -7.84150341e-03 -2.08128114e+00] [-6.97684472e-02 -1.18501388e-03 9.97562509e-01 -3.54439640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.727719420999996 meters 0.0546102615901872 Centerline is valid? [True, True] Translation: X:34.45, Y:-2.09, Z:-3.55 [[ 9.89306357e-01 1.28528088e-01 6.89453602e-02 3.44538316e+01] [-1.28294909e-01 9.91705247e-01 -7.81791895e-03 -2.08586418e+00] [-6.93782976e-02 -1.11102182e-03 9.97589804e-01 -3.54847590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.757719421 meters 0.05362271386852739 Centerline is valid? [True, True] Translation: X:34.49, Y:-2.09, Z:-3.55 [[ 9.89274311e-01 1.27320005e-01 7.15957636e-02 3.44860354e+01] [-1.27063532e-01 9.91861146e-01 -8.14402576e-03 -2.09092816e+00] [-7.20499535e-02 -1.04053514e-03 9.97400482e-01 -3.54664613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.787719421 meters 0.052262422448121584 Centerline is valid? [True, True] Translation: X:34.52, Y:-2.10, Z:-3.54 [[ 9.89486050e-01 1.22239114e-01 7.72978350e-02 3.45161733e+01] [-1.21921980e-01 9.92500439e-01 -8.82658681e-03 -2.09746386e+00] [-7.77970893e-02 -6.90520536e-04 9.96968974e-01 -3.54417014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.817719421 meters 0.051879236462413124 Centerline is valid? [True, True] Translation: X:34.55, Y:-2.10, Z:-3.55 [[ 9.89791192e-01 1.19800856e-01 7.72084871e-02 3.45475735e+01] [-1.19477632e-01 9.92797814e-01 -8.80887395e-03 -2.10405319e+00] [-7.77077279e-02 -5.05741389e-04 9.96976055e-01 -3.54575689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.847719421 meters 0.05188691914440266 Centerline is valid? [True, True] Translation: X:34.58, Y:-2.11, Z:-3.55 [[ 9.90105797e-01 1.17752678e-01 7.63204968e-02 3.45792532e+01] [-1.17429088e-01 9.93042902e-01 -8.72950674e-03 -2.11031698e+00] [-7.68174504e-02 -3.19111133e-04 9.97045123e-01 -3.55103748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.877719421 meters 0.052449202137843015 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.12, Z:-3.56 [[ 9.90908969e-01 1.13785919e-01 7.17786881e-02 3.46095503e+01] [-1.13487535e-01 9.93505292e-01 -8.23498468e-03 -2.11909173e+00] [-7.22495317e-02 1.41337999e-05 9.97386588e-01 -3.55932150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.907719420999996 meters 0.0525123323097201 Centerline is valid? [True, True] Translation: X:34.64, Y:-2.12, Z:-3.56 [[ 9.91131271e-01 1.11959979e-01 7.15804916e-02 3.46407687e+01] [-1.11657114e-01 9.93712703e-01 -8.23123500e-03 -2.12228884e+00] [-7.20520126e-02 1.65763269e-04 9.97400862e-01 -3.56432048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.937719421 meters 0.05253183603803409 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.12, Z:-3.57 [[ 9.91154331e-01 1.12273705e-01 7.07651523e-02 3.46732867e+01] [-1.11976858e-01 9.93677306e-01 -8.16058611e-03 -2.12396958e+00] [-7.12339451e-02 1.64340896e-04 9.97459622e-01 -3.56639006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.967719421 meters 0.05239069080388249 Centerline is valid? [True, True] Translation: X:34.70, Y:-2.12, Z:-3.57 [[ 9.90694331e-01 1.15745341e-01 7.16083631e-02 3.47048924e+01] [-1.15448756e-01 9.93278920e-01 -8.28086850e-03 -2.12196387e+00] [-7.20855495e-02 -6.32869572e-05 9.97398451e-01 -3.56942213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.997719421 meters 0.05219755518365974 Centerline is valid? [True, True] Translation: X:34.74, Y:-2.12, Z:-3.57 [[ 9.89997736e-01 1.20096622e-01 7.40356894e-02 3.47376976e+01] [-1.19790111e-01 9.92762138e-01 -8.58289236e-03 -2.12048807e+00] [-7.45306057e-02 -3.71699474e-04 9.97218657e-01 -3.56940201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.027719421 meters 0.0531443113655233 Centerline is valid? [True, True] Translation: X:34.77, Y:-2.11, Z:-3.57 [[ 9.88342554e-01 1.30723998e-01 7.80399435e-02 3.47716653e+01] [-1.30414500e-01 9.91418059e-01 -9.07141345e-03 -2.11110147e+00] [-7.85560608e-02 -1.21187624e-03 9.96908961e-01 -3.56991971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.057719421 meters 0.054211014768228566 Centerline is valid? [True, True] Translation: X:34.80, Y:-2.11, Z:-3.57 [[ 9.87745770e-01 1.36049683e-01 7.64773059e-02 3.48036799e+01] [-1.35766289e-01 9.90700763e-01 -8.91699091e-03 -2.10937866e+00] [-7.69792791e-02 -1.57531997e-03 9.97031448e-01 -3.57296486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.087719420999996 meters 0.05758231902772967 Centerline is valid? [True, True] Translation: X:34.83, Y:-2.10, Z:-3.58 [[ 9.86359355e-01 1.47195494e-01 7.36797740e-02 3.48348159e+01] [-1.46961346e-01 9.89104683e-01 -8.61911374e-03 -2.10097755e+00] [-7.41457042e-02 -2.32653527e-03 9.97244705e-01 -3.57870867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.117719421 meters 0.059810460636689 Centerline is valid? [True, True] Translation: X:34.87, Y:-2.10, Z:-3.58 [[ 9.85408076e-01 1.53291180e-01 7.39779556e-02 3.48665181e+01] [-1.53072313e-01 9.88177105e-01 -8.65313664e-03 -2.09771830e+00] [-7.44297715e-02 -2.79710602e-03 9.97222335e-01 -3.58187623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.147719421 meters 0.06427735712941916 Centerline is valid? [True, True] Translation: X:34.90, Y:-2.09, Z:-3.58 [[ 9.83543719e-01 1.64722382e-01 7.42178555e-02 3.48985585e+01] [-1.64534205e-01 9.86333144e-01 -8.68470672e-03 -2.09153005e+00] [-7.46340963e-02 -3.66958714e-03 9.97204235e-01 -3.58479881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.177719421 meters 0.06664082680589681 Centerline is valid? [True, True] Translation: X:34.93, Y:-2.10, Z:-3.59 [[ 9.82892733e-01 1.70025376e-01 7.08042805e-02 3.49279515e+01] [-1.69867511e-01 9.85432046e-01 -8.28920993e-03 -2.09705815e+00] [-7.11821830e-02 -3.87994271e-03 9.97455785e-01 -3.59044321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.207719421 meters 0.06899380711140117 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.10, Z:-3.60 [[ 9.82923796e-01 1.70355622e-01 6.95684835e-02 3.49576962e+01] [-1.70204062e-01 9.85375182e-01 -8.14420361e-03 -2.09943016e+00] [-6.99384680e-02 -3.83570695e-03 9.97543933e-01 -3.59744497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.237719421 meters 0.06912100569453038 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.10, Z:-3.60 [[ 9.83479810e-01 1.67786283e-01 6.79354560e-02 3.49867865e+01] [-1.67635485e-01 9.85816949e-01 -7.95530370e-03 -2.10342238e+00] [-6.83067148e-02 -3.56451252e-03 9.97658001e-01 -3.60431888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.267719421 meters 0.06589832473557515 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.11, Z:-3.60 [[ 9.83685829e-01 1.66122722e-01 6.90321048e-02 3.50172642e+01] [-1.65963042e-01 9.86098852e-01 -8.08222613e-03 -2.11249420e+00] [-6.94151207e-02 -3.50640677e-03 9.97581699e-01 -3.60420850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.297719421 meters 0.06347056431986678 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.13, Z:-3.61 [[ 9.84504855e-01 1.61615390e-01 6.80489220e-02 3.50469377e+01] [-1.61449277e-01 9.86848827e-01 -7.97015493e-03 -2.12691755e+00] [-6.84420986e-02 -3.13979306e-03 9.97650150e-01 -3.60610368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.327719421 meters 0.06371618606760228 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.14, Z:-3.61 [[ 9.84875289e-01 1.59638487e-01 6.73514573e-02 3.50772699e+01] [-1.59471523e-01 9.87171055e-01 -7.88299261e-03 -2.13594695e+00] [-6.77458381e-02 -2.97687485e-03 9.97698171e-01 -3.61122869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.357719421 meters 0.06095027931813554 Centerline is valid? [True, True] Translation: X:35.10, Y:-2.15, Z:-3.61 [[ 9.85684965e-01 1.53501392e-01 6.97314310e-02 3.51049677e+01] [-1.53304867e-01 9.88144974e-01 -8.19324180e-03 -2.15261096e+00] [-7.01624370e-02 -2.61421245e-03 9.97532154e-01 -3.61268630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.387719421 meters 0.05886046759433739 Centerline is valid? [True, True] Translation: X:35.14, Y:-2.16, Z:-3.61 [[ 9.86110514e-01 1.49638451e-01 7.20720998e-02 3.51352743e+01] [-1.49418402e-01 9.88737818e-01 -8.46567557e-03 -2.16220395e+00] [-7.25272013e-02 -2.42080628e-03 9.97363497e-01 -3.61258629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.417719421 meters 0.05642993610129573 Centerline is valid? [True, True] Translation: X:35.16, Y:-2.18, Z:-3.61 [[ 9.87109242e-01 1.42203488e-01 7.34405401e-02 3.51634915e+01] [-1.41954277e-01 9.89835607e-01 -8.62871299e-03 -2.17634218e+00] [-7.39210947e-02 -1.90771645e-03 9.97262269e-01 -3.61486201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.447719421 meters 0.055417268428932194 Centerline is valid? [True, True] Translation: X:35.19, Y:-2.19, Z:-3.62 [[ 9.87555080e-01 1.38673750e-01 7.41926909e-02 3.51940927e+01] [-1.38409593e-01 9.90336725e-01 -8.71528532e-03 -2.18552751e+00] [-7.46843278e-02 -1.66215587e-03 9.97205841e-01 -3.61824713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.477719420999996 meters 0.053994709379957005 Centerline is valid? [True, True] Translation: X:35.22, Y:-2.20, Z:-3.62 [[ 9.88212524e-01 1.33961977e-01 7.40958574e-02 3.52247432e+01] [-1.33685425e-01 9.90985612e-01 -8.70197940e-03 -2.19895728e+00] [-7.45936629e-02 -1.30613115e-03 9.97213156e-01 -3.62092625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.507719421 meters 0.05351816790978678 Centerline is valid? [True, True] Translation: X:35.26, Y:-2.21, Z:-3.63 [[ 9.89023366e-01 1.29325144e-01 7.14687961e-02 3.52559935e+01] [-1.29054340e-01 9.91601832e-01 -8.41334851e-03 -2.20720546e+00] [-7.19566466e-02 -9.02360081e-04 9.97407352e-01 -3.62751517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.537719421 meters 0.05319933617023913 Centerline is valid? [True, True] Translation: X:35.29, Y:-2.21, Z:-3.63 [[ 9.89269454e-01 1.27500684e-01 7.13408892e-02 3.52875825e+01] [-1.27224212e-01 9.91838205e-01 -8.42466394e-03 -2.21342277e+00] [-7.18327699e-02 -7.42025691e-04 9.97416414e-01 -3.63033995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.567719421 meters 0.05313947569194423 Centerline is valid? [True, True] Translation: X:35.32, Y:-2.22, Z:-3.64 [[ 9.89679786e-01 1.25032881e-01 7.00050030e-02 3.53182997e+01] [-1.24758569e-01 9.92152460e-01 -8.29436564e-03 -2.22073647e+00] [-7.04927043e-02 -5.24957964e-04 9.97512157e-01 -3.63544505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.597719421 meters 0.05293006804667048 Centerline is valid? [True, True] Translation: X:35.35, Y:-2.23, Z:-3.64 [[ 9.90429263e-01 1.19896250e-01 6.83722463e-02 3.53483956e+01] [-1.19622270e-01 9.92786415e-01 -8.10228431e-03 -2.23267984e+00] [-6.88504708e-02 -1.54103809e-04 9.97626979e-01 -3.64053573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.627719421 meters 0.052402199176517165 Centerline is valid? [True, True] Translation: X:35.38, Y:-2.24, Z:-3.64 [[ 9.90623781e-01 1.17028113e-01 7.04907401e-02 3.53806112e+01] [-1.16728180e-01 9.93128600e-01 -8.37351908e-03 -2.23538157e+00] [-7.09863072e-02 6.67513591e-05 9.97477288e-01 -3.64101410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.657719420999996 meters 0.05227287785178877 Centerline is valid? [True, True] Translation: X:35.41, Y:-2.24, Z:-3.64 [[ 9.90387559e-01 1.17760765e-01 7.25595229e-02 3.54114261e+01] [-1.17443143e-01 9.93041993e-01 -8.64335901e-03 -2.23710731e+00] [-7.30725018e-02 3.86568506e-05 9.97326631e-01 -3.64257278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.687719421 meters 0.05204908806308928 Centerline is valid? [True, True] Translation: X:35.44, Y:-2.23, Z:-3.64 [[ 9.89849120e-01 1.21558327e-01 7.36362248e-02 3.54432192e+01] [-1.21239871e-01 9.92584266e-01 -8.79598837e-03 -2.23472299e+00] [-7.41593837e-02 -2.20945030e-04 9.97246377e-01 -3.64339181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.717719421 meters 0.052107831423984056 Centerline is valid? [True, True] Translation: X:35.48, Y:-2.23, Z:-3.64 [[ 9.89191731e-01 1.25276470e-01 7.61939962e-02 3.54760773e+01] [-1.24945673e-01 9.92121741e-01 -9.11205467e-03 -2.23291171e+00] [-7.67352462e-02 -5.06540962e-04 9.97051376e-01 -3.64397633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.747719421 meters 0.052662532657196004 Centerline is valid? [True, True] Translation: X:35.51, Y:-2.23, Z:-3.64 [[ 9.88010359e-01 1.32514371e-01 7.92178821e-02 3.55099494e+01] [-1.32178043e-01 9.91180488e-01 -9.49764676e-03 -2.22611537e+00] [-7.97777937e-02 -1.08709126e-03 9.96812080e-01 -3.64370227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.777719421 meters 0.05460184197570814 Centerline is valid? [True, True] Translation: X:35.54, Y:-2.22, Z:-3.65 [[ 9.87278719e-01 1.39117196e-01 7.69878946e-02 3.55406441e+01] [-1.38816903e-01 9.90274726e-01 -9.26468879e-03 -2.21765801e+00] [-7.75280438e-02 -1.54039104e-03 9.96988982e-01 -3.64970545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.807719421 meters 0.055953686496777524 Centerline is valid? [True, True] Translation: X:35.57, Y:-2.21, Z:-3.66 [[ 9.86917091e-01 1.43296700e-01 7.38966194e-02 3.55720470e+01] [-1.43031835e-01 9.89678148e-01 -8.89147577e-03 -2.21439162e+00] [-7.44079885e-02 -1.79441967e-03 9.97226269e-01 -3.65511895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.837719420999996 meters 0.059139397611635655 Centerline is valid? [True, True] Translation: X:35.60, Y:-2.21, Z:-3.66 [[ 9.85803177e-01 1.52593829e-01 7.00515455e-02 3.56033396e+01] [-1.52378929e-01 9.88286167e-01 -8.43291434e-03 -2.20535371e+00] [-7.05177840e-02 -2.36118570e-03 9.97507728e-01 -3.66138486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.867719421 meters 0.06060411425099295 Centerline is valid? [True, True] Translation: X:35.63, Y:-2.21, Z:-3.66 [[ 9.85087428e-01 1.57216524e-01 6.98979467e-02 3.56346553e+01] [-1.57014240e-01 9.87560501e-01 -8.41335218e-03 -2.20643317e+00] [-7.03511693e-02 -2.68708548e-03 9.97518668e-01 -3.66476928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.897719421 meters 0.0627536233931728 Centerline is valid? [True, True] Translation: X:35.66, Y:-2.21, Z:-3.67 [[ 9.84296846e-01 1.61745137e-01 7.06981623e-02 3.56647245e+01] [-1.61549549e-01 9.86827878e-01 -8.51364104e-03 -2.20757224e+00] [-7.11439575e-02 -3.04130619e-03 9.97461422e-01 -3.66855771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.927719421 meters 0.062216060874287146 Centerline is valid? [True, True] Translation: X:35.70, Y:-2.21, Z:-3.67 [[ 9.84212405e-01 1.62039259e-01 7.11984510e-02 3.56962227e+01] [-1.61842178e-01 9.86779469e-01 -8.56668087e-03 -2.21452720e+00] [-7.16453083e-02 -3.09147882e-03 9.97425382e-01 -3.66999673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.957719421 meters 0.06379565560094852 Centerline is valid? [True, True] Translation: X:35.73, Y:-2.22, Z:-3.68 [[ 9.84089655e-01 1.62401100e-01 7.20654786e-02 3.57269543e+01] [-1.62198436e-01 9.86719854e-01 -8.69468456e-03 -2.21695055e+00] [-7.25204649e-02 -3.13255881e-03 9.97362005e-01 -3.67518925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.987719421 meters 0.06209928863845472 Centerline is valid? [True, True] Translation: X:35.76, Y:-2.23, Z:-3.68 [[ 9.84226987e-01 1.61521429e-01 7.21669379e-02 3.57577404e+01] [-1.61314365e-01 9.86864486e-01 -8.72713759e-03 -2.22964306e+00] [-7.26286078e-02 -3.05207942e-03 9.97354385e-01 -3.67615409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.017719421 meters 0.06075441140351709 Centerline is valid? [True, True] Translation: X:35.79, Y:-2.24, Z:-3.68 [[ 9.84432252e-01 1.60017994e-01 7.27143980e-02 3.57889038e+01] [-1.59802033e-01 9.87109715e-01 -8.81587773e-03 -2.23937666e+00] [-7.31877878e-02 -2.94127428e-03 9.97313841e-01 -3.67775942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.047719421 meters 0.05933309962030246 Centerline is valid? [True, True] Translation: X:35.82, Y:-2.25, Z:-3.68 [[ 9.85021736e-01 1.55125951e-01 7.52869066e-02 3.58170721e+01] [-1.54877618e-01 9.87891184e-01 -9.16148543e-03 -2.25145564e+00] [-7.57964554e-02 -2.63599445e-03 9.97119827e-01 -3.68008975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.077719421 meters 0.057814452998815304 Centerline is valid? [True, True] Translation: X:35.85, Y:-2.26, Z:-3.68 [[ 9.85274802e-01 1.52291076e-01 7.77238264e-02 3.58473962e+01] [-1.52017867e-01 9.88332524e-01 -9.45462646e-03 -2.26229751e+00] [-7.82568408e-02 -2.50000510e-03 9.96930096e-01 -3.68107268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.107719421 meters 0.0556345359993069 Centerline is valid? [True, True] Translation: X:35.88, Y:-2.28, Z:-3.69 [[ 9.86374490e-01 1.46069506e-01 7.56905806e-02 3.58772932e+01] [-1.45791913e-01 9.89272407e-01 -9.20997163e-03 -2.27835474e+00] [-7.62238988e-02 -1.95059347e-03 9.97088819e-01 -3.68571667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.137719421 meters 0.05549879263830119 Centerline is valid? [True, True] Translation: X:35.91, Y:-2.29, Z:-3.69 [[ 9.86955479e-01 1.42831189e-01 7.42841432e-02 3.59076907e+01] [-1.42554794e-01 9.89745655e-01 -9.03709757e-03 -2.28584110e+00] [-7.48131874e-02 -1.67034779e-03 9.97196168e-01 -3.69364204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.167719421 meters 0.054001194120201844 Centerline is valid? [True, True] Translation: X:35.94, Y:-2.30, Z:-3.70 [[ 9.87889082e-01 1.36647009e-01 7.35034522e-02 3.59387206e+01] [-1.36357226e-01 9.90619123e-01 -8.96999672e-03 -2.29960866e+00] [-7.40396486e-02 -1.16136502e-03 9.97254622e-01 -3.69710112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.197719421 meters 0.052731816638192756 Centerline is valid? [True, True] Translation: X:35.97, Y:-2.32, Z:-3.70 [[ 9.88665482e-01 1.31455041e-01 7.25267970e-02 3.59693864e+01] [-1.31158855e-01 9.91321842e-01 -8.85219090e-03 -2.31586811e+00] [-7.30610631e-02 -7.60676034e-04 9.97327179e-01 -3.69860834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.227719420999996 meters 0.05269622854356899 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.32, Z:-3.71 [[ 9.89139893e-01 1.28397139e-01 7.15293356e-02 3.60001814e+01] [-1.28099244e-01 9.91722704e-01 -8.75563844e-03 -2.32432092e+00] [-7.20614650e-02 -5.02302565e-04 9.97400067e-01 -3.70528124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.257719421 meters 0.0521807411624277 Centerline is valid? [True, True] Translation: X:36.03, Y:-2.33, Z:-3.71 [[ 9.89552428e-01 1.23769090e-01 7.39405466e-02 3.60302581e+01] [-1.23436413e-01 9.92311035e-01 -9.06987131e-03 -2.33163519e+00] [-7.44945900e-02 -1.51842691e-04 9.97221406e-01 -3.70774530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.287719421 meters 0.05229826222865909 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.33, Z:-3.71 [[ 9.88718750e-01 1.29585788e-01 7.51182857e-02 3.60642738e+01] [-1.29258470e-01 9.91568039e-01 -9.22348280e-03 -2.32575042e+00] [-7.56801235e-02 -5.90244336e-04 9.97131972e-01 -3.70730411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.317719421 meters 0.05323293370131857 Centerline is valid? [True, True] Translation: X:36.10, Y:-2.32, Z:-3.71 [[ 9.87894143e-01 1.36188763e-01 7.42817784e-02 3.60974430e+01] [-1.35885373e-01 9.90682342e-01 -9.14676257e-03 -2.32207957e+00] [-7.48353324e-02 -1.05777402e-03 9.97195344e-01 -3.70972344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.347719421 meters 0.05734293427726103 Centerline is valid? [True, True] Translation: X:36.13, Y:-2.31, Z:-3.72 [[ 9.86203388e-01 1.50072196e-01 6.98656781e-02 3.61299952e+01] [-1.49836606e-01 9.88673104e-01 -8.63049532e-03 -2.31023058e+00] [-7.03695142e-02 -1.95701233e-03 9.97519073e-01 -3.71709521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.377719421 meters 0.05734293427726103 Centerline is valid? [True, True] Translation: X:36.16, Y:-2.31, Z:-3.72 [[ 9.86152374e-01 1.50406621e-01 6.98666207e-02 3.61620936e+01] [-1.50172407e-01 9.88622220e-01 -8.62288261e-03 -2.31447103e+00] [-7.03686323e-02 -1.98856243e-03 9.97519073e-01 -3.72042804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.407719420999996 meters 0.059453720143399606 Centerline is valid? [True, True] Translation: X:36.19, Y:-2.31, Z:-3.72 [[ 9.85236169e-01 1.56578165e-01 6.92312697e-02 3.61929978e+01] [-1.56361063e-01 9.87662717e-01 -8.57764285e-03 -2.31157485e+00] [-6.97202155e-02 -2.37407093e-03 9.97563760e-01 -3.72457798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.437719421 meters 0.06140830709343924 Centerline is valid? [True, True] Translation: X:36.23, Y:-2.31, Z:-3.73 [[ 9.83964117e-01 1.63751312e-01 7.07115580e-02 3.62251109e+01] [-1.63542977e-01 9.86497271e-01 -8.76521107e-03 -2.30800497e+00] [-7.11920738e-02 -2.93972551e-03 9.97458293e-01 -3.72571620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.467719421 meters 0.06320809019638848 Centerline is valid? [True, True] Translation: X:36.26, Y:-2.31, Z:-3.73 [[ 9.83583935e-01 1.65027835e-01 7.29962782e-02 3.62565257e+01] [-1.64809583e-01 9.86283930e-01 -9.04490112e-03 -2.30806342e+00] [-7.34877166e-02 -3.13406671e-03 9.97291198e-01 -3.72913664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.497719421 meters 0.06124675045847313 Centerline is valid? [True, True] Translation: X:36.29, Y:-2.32, Z:-3.73 [[ 9.83695402e-01 1.63609241e-01 7.46684218e-02 3.62866963e+01] [-1.63374647e-01 9.86520448e-01 -9.28066966e-03 -2.31883041e+00] [-7.51803282e-02 -3.06957497e-03 9.97165230e-01 -3.72927799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.527719421 meters 0.060756869446430106 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.33, Z:-3.73 [[ 9.83815392e-01 1.62449286e-01 7.56141845e-02 3.63169518e+01] [-1.62205506e-01 9.86712268e-01 -9.39545512e-03 -2.32717486e+00] [-7.61357284e-02 -3.02164370e-03 9.97092885e-01 -3.73161302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.557719421 meters 0.059757826757562194 Centerline is valid? [True, True] Translation: X:36.35, Y:-2.34, Z:-3.73 [[ 9.84127758e-01 1.59898793e-01 7.69735816e-02 3.63470777e+01] [-1.59636249e-01 9.87129305e-01 -9.59187046e-03 -2.34044847e+00] [-7.75166066e-02 -2.84814786e-03 9.96986993e-01 -3.73443930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.587719420999996 meters 0.05972563349395377 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.35, Z:-3.74 [[ 9.84193801e-01 1.59610504e-01 7.67271083e-02 3.63782210e+01] [-1.59348831e-01 9.87176048e-01 -9.56030697e-03 -2.34790974e+00] [-7.72690890e-02 -2.81718015e-03 9.97006295e-01 -3.73895090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.617719421 meters 0.06020141439665105 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.36, Z:-3.75 [[ 9.84342787e-01 1.59844365e-01 7.42903554e-02 3.64093398e+01] [-1.59598132e-01 9.87138470e-01 -9.27780820e-03 -2.35565370e+00] [-7.48178731e-02 -2.72405834e-03 9.97193494e-01 -3.74566784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.647719421 meters 0.059526006406053183 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.36, Z:-3.75 [[ 9.84320964e-01 1.60679084e-01 7.27631222e-02 3.64408230e+01] [-1.60443643e-01 9.87002984e-01 -9.10755215e-03 -2.36484963e+00] [-7.32808118e-02 -2.70962590e-03 9.97307666e-01 -3.74890321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.677719421 meters 0.05960252985146052 Centerline is valid? [True, True] Translation: X:36.47, Y:-2.37, Z:-3.75 [[ 9.84443228e-01 1.60397504e-01 7.17228754e-02 3.64733466e+01] [-1.60166533e-01 9.87048998e-01 -8.99763374e-03 -2.37128347e+00] [-7.22371903e-02 -2.62994471e-03 9.97384014e-01 -3.75284774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.707719421 meters 0.05865218149543612 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.39, Z:-3.76 [[ 9.85033235e-01 1.57401309e-01 7.02449555e-02 3.65036820e+01] [-1.57170382e-01 9.87531961e-01 -8.83726741e-03 -2.38564616e+00] [-7.07601361e-02 -2.33542441e-03 9.97490626e-01 -3.75943260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.737719421 meters 0.057922484193964896 Centerline is valid? [True, True] Translation: X:36.53, Y:-2.39, Z:-3.76 [[ 9.85465142e-01 1.54465108e-01 7.07034954e-02 3.65330162e+01] [-1.54221440e-01 9.87995995e-01 -8.92537592e-03 -2.39491092e+00] [-7.12334294e-02 -2.10834800e-03 9.97457444e-01 -3.76300271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.767719421 meters 0.05635992242242927 Centerline is valid? [True, True] Translation: X:36.56, Y:-2.40, Z:-3.76 [[ 9.85726733e-01 1.51516566e-01 7.33862295e-02 3.65639216e+01] [-1.51245853e-01 9.88452761e-01 -9.26450958e-03 -2.40462017e+00] [-7.39425478e-02 -1.96708814e-03 9.97260563e-01 -3.76362353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.797719421 meters 0.05357663577822169 Centerline is valid? [True, True] Translation: X:36.59, Y:-2.42, Z:-3.76 [[ 9.86534320e-01 1.43610395e-01 7.82693451e-02 3.65940116e+01] [-1.43277029e-01 9.89633227e-01 -9.88780321e-03 -2.41726889e+00] [-7.88779359e-02 -1.45954204e-03 9.96883213e-01 -3.76122200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.827719421 meters 0.05246560060911132 Centerline is valid? [True, True] Translation: X:36.62, Y:-2.43, Z:-3.77 [[ 9.87690263e-01 1.36509182e-01 7.63753030e-02 3.66239237e+01] [-1.36171070e-01 9.90638418e-01 -9.64186133e-03 -2.43437777e+00] [-7.69765119e-02 -8.76934159e-04 9.97032521e-01 -3.76666417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.857719421 meters 0.05221166803205287 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.44, Z:-3.77 [[ 9.88245880e-01 1.33161548e-01 7.50871739e-02 3.66551784e+01] [-1.32823512e-01 9.91094173e-01 -9.50023935e-03 -2.44462737e+00] [-7.56835271e-02 -5.84769764e-04 9.97131717e-01 -3.77153486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.887719421 meters 0.051980538905460595 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.46, Z:-3.77 [[ 9.88993118e-01 1.27934791e-01 7.43323732e-02 3.66863425e+01] [-1.27586881e-01 9.91782569e-01 -9.42993249e-03 -2.45736678e+00] [-7.49279685e-02 -1.57697276e-04 9.97188936e-01 -3.77443970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.917719421 meters 0.05201523055431722 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.46, Z:-3.78 [[ 9.89166192e-01 1.26573205e-01 7.43603973e-02 3.67179009e+01] [-1.26219172e-01 9.91957269e-01 -9.46031035e-03 -2.46371873e+00] [-7.49597584e-02 -2.78886367e-05 9.97186559e-01 -3.77825798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.947719421 meters 0.052501291517724695 Centerline is valid? [True, True] Translation: X:36.75, Y:-2.47, Z:-3.79 [[ 9.89758727e-01 1.23818078e-01 7.10404569e-02 3.67476678e+01] [-1.23485958e-01 9.92304915e-01 -9.06501181e-03 -2.46945893e+00] [-7.16162069e-02 1.99675658e-04 9.97432243e-01 -3.78538389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.977719420999996 meters 0.05295845837099606 Centerline is valid? [True, True] Translation: X:36.78, Y:-2.47, Z:-3.79 [[ 9.90104145e-01 1.22266055e-01 6.88824602e-02 3.67791673e+01] [-1.21949738e-01 9.92497313e-01 -8.79455228e-03 -2.47428971e+00] [-6.94409319e-02 3.07324689e-04 9.97586018e-01 -3.79086560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.007719421 meters 0.05344713483656559 Centerline is valid? [True, True] Translation: X:36.81, Y:-2.48, Z:-3.79 [[ 9.90522220e-01 1.19157596e-01 6.83169020e-02 3.68098778e+01] [-1.18837628e-01 9.92875206e-01 -8.74323585e-03 -2.48207607e+00] [-6.88719810e-02 5.41750780e-04 9.97625359e-01 -3.79408341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.037719421 meters 0.05316129944141079 Centerline is valid? [True, True] Translation: X:36.84, Y:-2.49, Z:-3.79 [[ 9.90447484e-01 1.17132206e-01 7.27586917e-02 3.68405460e+01] [-1.16761602e-01 9.93116043e-01 -9.34099187e-03 -2.48773393e+00] [-7.33519550e-02 7.56340521e-04 9.97305830e-01 -3.79181620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.067719421 meters 0.05247904941154721 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.49, Z:-3.79 [[ 9.90258445e-01 1.17851093e-01 7.41574788e-02 3.68735361e+01] [-1.17468398e-01 9.93031023e-01 -9.51646985e-03 -2.48672298e+00] [-7.47622034e-02 7.12604373e-04 9.97201136e-01 -3.79048813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.097719421 meters 0.05151338846751949 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.47, Z:-3.79 [[ 9.89211879e-01 1.25133741e-01 7.61669559e-02 3.69073359e+01] [-1.24749565e-01 9.92139864e-01 -9.79979245e-03 -2.47156114e+00] [-7.67945580e-02 1.92276453e-04 9.97046919e-01 -3.79068116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.127719421 meters 0.051704841391368904 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.47, Z:-3.80 [[ 9.88588751e-01 1.30283677e-01 7.56204063e-02 3.69407576e+01] [-1.29918504e-01 9.91476742e-01 -9.74953323e-03 -2.46615857e+00] [-7.62460791e-02 -1.86211176e-04 9.97089013e-01 -3.79505738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.157719420999996 meters 0.052710813119593865 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.45, Z:-3.80 [[ 9.87713461e-01 1.38688133e-01 7.20258302e-02 3.69730734e+01] [-1.38376751e-01 9.90335812e-01 -9.31951758e-03 -2.45496162e+00] [-7.26222656e-02 -7.61687379e-04 9.97359226e-01 -3.80085200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.187719421 meters 0.05326290176263411 Centerline is valid? [True, True] Translation: X:37.01, Y:-2.45, Z:-3.80 [[ 9.87134255e-01 1.42994254e-01 7.15444401e-02 3.70054160e+01] [-1.42698778e-01 9.89722932e-01 -9.25075992e-03 -2.45130255e+00] [-7.21319785e-02 -1.07756217e-03 9.97394514e-01 -3.80364259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.217719421 meters 0.05468094339257609 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.44, Z:-3.80 [[ 9.85647712e-01 1.51322484e-01 7.48337718e-02 3.70398506e+01] [-1.51021410e-01 9.88482914e-01 -9.69859933e-03 -2.44073457e+00] [-7.54395209e-02 -1.74209946e-03 9.97148857e-01 -3.80321808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.247719421 meters 0.05536025781017797 Centerline is valid? [True, True] Translation: X:37.07, Y:-2.44, Z:-3.80 [[ 9.85044099e-01 1.54973284e-01 7.53087270e-02 3.70723251e+01] [-1.54677231e-01 9.87916614e-01 -9.78357126e-03 -2.43911273e+00] [-7.59149348e-02 -2.01129624e-03 9.97112269e-01 -3.80484122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.277719421 meters 0.057864873782154776 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.43, Z:-3.81 [[ 9.84190210e-01 1.61899873e-01 7.18196445e-02 3.71036865e+01] [-1.61646809e-01 9.86804280e-01 -9.36067555e-03 -2.42952696e+00] [-7.23874247e-02 -2.39673112e-03 9.97373710e-01 -3.81155091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.307719421 meters 0.0598854482182791 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.42, Z:-3.82 [[ 9.83627729e-01 1.65767644e-01 7.06935595e-02 3.71355187e+01] [-1.65532472e-01 9.86161305e-01 -9.21310750e-03 -2.42361850e+00] [-7.12424880e-02 -2.63981161e-03 9.97455532e-01 -3.81780503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.337719420999996 meters 0.06012568754590366 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.43, Z:-3.82 [[ 9.83494694e-01 1.66736367e-01 7.02650102e-02 3.71676330e+01] [-1.66506876e-01 9.85997820e-01 -9.15199527e-03 -2.42565885e+00] [-7.08071173e-02 -2.69866856e-03 9.97486376e-01 -3.82085115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.367719421 meters 0.06203319908579328 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.43, Z:-3.83 [[ 9.83261437e-01 1.68549530e-01 6.91953897e-02 3.71986632e+01] [-1.68329912e-01 9.85689310e-01 -9.03468445e-03 -2.42605710e+00] [-6.97279477e-02 -2.76419703e-03 9.97562215e-01 -3.82724187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.397719421 meters 0.0615540050714795 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.43, Z:-3.83 [[ 9.83100291e-01 1.69402007e-01 6.94030171e-02 3.72309180e+01] [-1.69181944e-01 9.85543014e-01 -9.07951969e-03 -2.43295430e+00] [-6.99377475e-02 -2.81565892e-03 9.97547384e-01 -3.82893667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.427719421 meters 0.0614594125041387 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.44, Z:-3.83 [[ 9.83067833e-01 1.69024487e-01 7.07697631e-02 3.72613786e+01] [-1.68792707e-01 9.85607828e-01 -9.28613045e-03 -2.43789568e+00] [-7.13208159e-02 -2.81652374e-03 9.97449452e-01 -3.83100486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.457719421 meters 0.059792472860886195 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.45, Z:-3.84 [[ 9.83726834e-01 1.65057417e-01 7.09758005e-02 3.72921420e+01] [-1.64812120e-01 9.86280764e-01 -9.33911209e-03 -2.44674047e+00] [-7.15435565e-02 -2.51053695e-03 9.97434317e-01 -3.83526142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.487719421 meters 0.057845642183635464 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.46, Z:-3.84 [[ 9.85114804e-01 1.57564456e-01 6.87187337e-02 3.73206089e+01] [-1.57315700e-01 9.87506888e-01 -9.05080907e-03 -2.45911676e+00] [-6.92863086e-02 -1.89444971e-03 9.97595017e-01 -3.84309386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.517719421 meters 0.05631802108842398 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.47, Z:-3.85 [[ 9.85919579e-01 1.52221280e-01 6.92189650e-02 3.73509276e+01] [-1.51955720e-01 9.88345254e-01 -9.11686209e-03 -2.47078300e+00] [-6.98000160e-02 -1.52972484e-03 9.97559832e-01 -3.84675965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.547719421 meters 0.053291627582518604 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.49, Z:-3.85 [[ 9.87386130e-01 1.40825823e-01 7.23651706e-02 3.73794009e+01] [-1.40504493e-01 9.90034103e-01 -9.53745028e-03 -2.49292466e+00] [-7.29871061e-02 -7.50485496e-04 9.97332602e-01 -3.84585685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.577719421 meters 0.05247754927243508 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.51, Z:-3.85 [[ 9.88128048e-01 1.34782964e-01 7.37327138e-02 3.74104123e+01] [-1.34433027e-01 9.90875094e-01 -9.71125942e-03 -2.50607666e+00] [-7.43688221e-02 -3.16144117e-04 9.97230755e-01 -3.84674034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.607719421 meters 0.053163419316062804 Centerline is valid? [True, True] Translation: X:37.44, Y:-2.53, Z:-3.85 [[ 9.89640771e-01 1.23532533e-01 7.31495602e-02 3.74394625e+01] [-1.23155675e-01 9.92340371e-01 -9.65751005e-03 -2.52529004e+00] [-7.37822784e-02 5.48682212e-04 9.97274222e-01 -3.85090918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.637719421 meters 0.05388903147814399 Centerline is valid? [True, True] Translation: X:37.47, Y:-2.53, Z:-3.86 [[ 9.89970493e-01 1.20433523e-01 7.38524799e-02 3.74697790e+01] [-1.20039271e-01 9.92721066e-01 -9.77027875e-03 -2.53496109e+00] [-7.44915817e-02 8.07089815e-04 9.97221316e-01 -3.85569282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.667719421 meters 0.05461389224994214 Centerline is valid? [True, True] Translation: X:37.50, Y:-2.54, Z:-3.86 [[ 9.90848541e-01 1.15042497e-01 7.06002337e-02 3.75001505e+01] [-1.14666470e-01 9.93359860e-01 -9.36957548e-03 -2.54212926e+00] [-7.12093376e-02 1.18835058e-03 9.97460685e-01 -3.85796608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.697719421 meters 0.05519472229336628 Centerline is valid? [True, True] Translation: X:37.53, Y:-2.55, Z:-3.86 [[ 9.91051948e-01 1.14171792e-01 6.91436003e-02 3.75310648e+01] [-1.13809256e-01 9.93460271e-01 -9.17299738e-03 -2.54650823e+00] [-6.97387175e-02 1.22173522e-03 9.97564544e-01 -3.86368477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.727719420999996 meters 0.05542385389245664 Centerline is valid? [True, True] Translation: X:37.56, Y:-2.55, Z:-3.87 [[ 9.91063918e-01 1.15015808e-01 6.75549736e-02 3.75631725e+01] [-1.14670470e-01 9.93362991e-01 -8.98056557e-03 -2.54740985e+00] [-6.81395177e-02 1.15375394e-03 9.97675135e-01 -3.86876534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.757719421 meters 0.05532722250581272 Centerline is valid? [True, True] Translation: X:37.59, Y:-2.55, Z:-3.87 [[ 9.90831744e-01 1.16049350e-01 6.91737161e-02 3.75942335e+01] [-1.15687868e-01 9.93242799e-01 -9.22271385e-03 -2.54853093e+00] [-6.97765854e-02 1.13559791e-03 9.97561997e-01 -3.87026717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.787719421 meters 0.05496352098094664 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.55, Z:-3.87 [[ 9.90915545e-01 1.15009430e-01 6.97080649e-02 3.76277318e+01] [-1.14639267e-01 9.93363644e-01 -9.30099863e-03 -2.55139437e+00] [-7.03151599e-02 1.22522265e-03 9.97524073e-01 -3.87020629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.817719421 meters 0.055570543912229924 Centerline is valid? [True, True] Translation: X:37.66, Y:-2.55, Z:-3.87 [[ 9.91044240e-01 1.12487975e-01 7.19567150e-02 3.76589680e+01] [-1.12084745e-01 9.93651986e-01 -9.63021953e-03 -2.55474357e+00] [-7.25832167e-02 1.47872354e-03 9.97361264e-01 -3.87156358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.847719421 meters 0.05593858295204922 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.56, Z:-3.87 [[ 9.90932228e-01 1.12396403e-01 7.36231505e-02 3.76892572e+01] [-1.11972347e-01 9.93662252e-01 -9.87535799e-03 -2.55935844e+00] [-7.42665003e-02 1.54205352e-03 9.97237238e-01 -3.87454923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.877719421 meters 0.05432784770910746 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.56, Z:-3.87 [[ 9.90242589e-01 1.16726520e-01 7.61218402e-02 3.77222454e+01] [-1.16283725e-01 9.93163261e-01 -1.02387725e-02 -2.55548792e+00] [-7.67965513e-02 1.28713744e-03 9.97045953e-01 -3.87429701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.907719420999996 meters 0.05323773389540345 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.55, Z:-3.88 [[ 9.89738552e-01 1.20873193e-01 7.62054508e-02 3.77548722e+01] [-1.20441789e-01 9.92667487e-01 -1.02486985e-02 -2.55235908e+00] [-7.68854663e-02 9.65211184e-04 9.97039464e-01 -3.87665325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.937719421 meters 0.052724647814496504 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.54, Z:-3.88 [[ 9.88890087e-01 1.29471322e-01 7.30313112e-02 3.77893246e+01] [-1.29097029e-01 9.91583120e-01 -9.84243111e-03 -2.54004947e+00] [-7.36909280e-02 3.04957284e-04 9.97281081e-01 -3.88356138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.967719421 meters 0.05316921940642338 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.54, Z:-3.89 [[ 9.88269665e-01 1.34910886e-01 7.15690069e-02 3.78204127e+01] [-1.34563432e-01 9.90857734e-01 -9.67649295e-03 -2.53506655e+00] [-7.22201682e-02 -6.75867837e-05 9.97388712e-01 -3.89247573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.997719421 meters 0.053761100471238554 Centerline is valid? [True, True] Translation: X:37.85, Y:-2.53, Z:-3.90 [[ 9.87382923e-01 1.42497629e-01 6.90607573e-02 3.78531008e+01] [-1.42191807e-01 9.89794968e-01 -9.34936538e-03 -2.52739284e+00] [-6.96882525e-02 -5.88470133e-04 9.97568645e-01 -3.89725869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.027719421 meters 0.05429288785761685 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.53, Z:-3.90 [[ 9.87125126e-01 1.44734758e-01 6.80869713e-02 3.78842004e+01] [-1.44442435e-01 9.89470220e-01 -9.22315498e-03 -2.52865839e+00] [-6.87049416e-02 -7.30239876e-04 9.97636756e-01 -3.90307249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.057719421 meters 0.054755285153886765 Centerline is valid? [True, True] Translation: X:37.92, Y:-2.53, Z:-3.91 [[ 9.86846177e-01 1.47734644e-01 6.56437257e-02 3.79163160e+01] [-1.47467909e-01 9.89026643e-01 -8.91717178e-03 -2.52859577e+00] [-6.62407689e-02 -8.80466126e-04 9.97803280e-01 -3.90640691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.087719420999996 meters 0.05502636332040436 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.53, Z:-3.91 [[ 9.86668735e-01 1.49414255e-01 6.44995166e-02 3.79477182e+01] [-1.49160444e-01 9.88774203e-01 -8.75997578e-03 -2.53008863e+00] [-6.50843234e-02 -9.77582340e-04 9.97879289e-01 -3.91093045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.117719421 meters 0.05614509936764016 Centerline is valid? [True, True] Translation: X:37.98, Y:-2.53, Z:-3.92 [[ 9.85982632e-01 1.53493389e-01 6.54066372e-02 3.79799582e+01] [-1.53239742e-01 9.88148896e-01 -8.90733133e-03 -2.52503634e+00] [-6.59987128e-02 -1.24042225e-03 9.97818937e-01 -3.91561583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.147719421 meters 0.05690855063632944 Centerline is valid? [True, True] Translation: X:38.01, Y:-2.52, Z:-3.92 [[ 9.85544062e-01 1.56704074e-01 6.43951476e-02 3.80117323e+01] [-1.56464626e-01 9.87644571e-01 -8.77619662e-03 -2.52433908e+00] [-6.49747837e-02 -1.42623423e-03 9.97885887e-01 -3.91928684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.177719421 meters 0.057700979163365015 Centerline is valid? [True, True] Translation: X:38.04, Y:-2.52, Z:-3.92 [[ 9.84734685e-01 1.60681915e-01 6.69247488e-02 3.80447389e+01] [-1.60431108e-01 9.87004716e-01 -9.14058571e-03 -2.52345290e+00] [-6.75237695e-02 -1.73575982e-03 9.97716156e-01 -3.92050675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.207719421 meters 0.05712118181879129 Centerline is valid? [True, True] Translation: X:38.08, Y:-2.53, Z:-3.92 [[ 9.84369830e-01 1.61981525e-01 6.91232503e-02 3.80767881e+01] [-1.61715601e-01 9.86792032e-01 -9.46308906e-03 -2.52808405e+00] [-6.97431182e-02 -1.86312857e-03 9.97563244e-01 -3.91980660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.237719421 meters 0.05626433592899077 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.53, Z:-3.92 [[ 9.84404912e-01 1.60590009e-01 7.18179574e-02 3.81078662e+01] [-1.60296903e-01 9.87019555e-01 -9.86411672e-03 -2.53415992e+00] [-7.24698069e-02 -1.80191117e-03 9.97368979e-01 -3.92050760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.267719421 meters 0.05626433592899077 Centerline is valid? [True, True] Translation: X:38.14, Y:-2.54, Z:-3.92 [[ 9.84348813e-01 1.60933148e-01 7.18187698e-02 3.81399143e+01] [-1.60641383e-01 9.86963607e-01 -9.85821779e-03 -2.53884202e+00] [-7.24690261e-02 -1.83314155e-03 9.97368979e-01 -3.92384135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.297719421 meters 0.055531418583637145 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.55, Z:-3.93 [[ 9.84707568e-01 1.58060974e-01 7.32648162e-02 3.81700978e+01] [-1.57746746e-01 9.87428026e-01 -1.00924409e-02 -2.54541800e+00] [-7.39389539e-02 -1.61918347e-03 9.97261455e-01 -3.92687160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.327719421 meters 0.05359128805744794 Centerline is valid? [True, True] Translation: X:38.20, Y:-2.56, Z:-3.93 [[ 9.86230656e-01 1.48192270e-01 7.34039774e-02 3.81987948e+01] [-1.47849272e-01 9.88958180e-01 -1.01148940e-02 -2.56248902e+00] [-7.40924130e-02 -8.77106117e-04 9.97250994e-01 -3.93150297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.357719421 meters 0.0533793028328564 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.58, Z:-3.94 [[ 9.88217765e-01 1.35966950e-01 7.02754390e-02 3.82275350e+01] [-1.35622043e-01 9.90713373e-01 -9.67853068e-03 -2.58401716e+00] [-7.09387775e-02 3.35973504e-05 9.97480671e-01 -3.93829447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.387719421 meters 0.05374100141608683 Centerline is valid? [True, True] Translation: X:38.26, Y:-2.60, Z:-3.94 [[ 9.88904588e-01 1.30838553e-01 7.03490506e-02 3.82575752e+01] [-1.30478362e-01 9.91403598e-01 -9.71102338e-03 -2.59713871e+00] [-7.10148781e-02 4.24246710e-04 9.97475166e-01 -3.94118361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.417719421 meters 0.054119767814467014 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.61, Z:-3.94 [[ 9.89547752e-01 1.23427503e-01 7.45714325e-02 3.82880208e+01] [-1.22999998e-01 9.92353051e-01 -1.03161205e-02 -2.61453193e+00] [-7.52744816e-02 1.03600776e-03 9.97162313e-01 -3.93864657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.447719421 meters 0.054227581104279464 Centerline is valid? [True, True] Translation: X:38.32, Y:-2.62, Z:-3.94 [[ 9.89509993e-01 1.22887515e-01 7.59515171e-02 3.83185531e+01] [-1.22440319e-01 9.92419969e-01 -1.05344146e-02 -2.62113680e+00] [-7.66703502e-02 1.12438053e-03 9.97055863e-01 -3.94031355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.477719420999996 meters 0.053632530052579216 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.62, Z:-3.94 [[ 9.89118697e-01 1.26514950e-01 7.50877595e-02 3.83508988e+01] [-1.26087595e-01 9.91964342e-01 -1.04240887e-02 -2.62015568e+00] [-7.58031830e-02 8.43025993e-04 9.97122443e-01 -3.94372844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.507719421 meters 0.053239069442145966 Centerline is valid? [True, True] Translation: X:38.38, Y:-2.62, Z:-3.95 [[ 9.88629198e-01 1.30889003e-01 7.40295756e-02 3.83839225e+01] [-1.30484318e-01 9.91396892e-01 -1.02978383e-02 -2.61908392e+00] [-7.47405650e-02 5.21044976e-04 9.97202876e-01 -3.94829400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.537719421 meters 0.053298550934855506 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.61, Z:-3.96 [[ 9.87505296e-01 1.41075816e-01 7.02203965e-02 3.84168174e+01] [-1.40735741e-01 9.89998772e-01 -9.79195189e-03 -2.60897434e+00] [-7.08995139e-02 -2.12915184e-04 9.97483440e-01 -3.95670824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.567719421 meters 0.05335753152926353 Centerline is valid? [True, True] Translation: X:38.45, Y:-2.61, Z:-3.96 [[ 9.86933464e-01 1.45722945e-01 6.87543510e-02 3.84498762e+01] [-1.45406896e-01 9.89325304e-01 -9.60616237e-03 -2.60701971e+00] [-6.94202574e-02 -5.16713646e-04 9.97587370e-01 -3.95915687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.597719421 meters 0.05409840623404093 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.60, Z:-3.96 [[ 9.85727867e-01 1.52732563e-01 7.08049219e-02 3.84836651e+01] [-1.52413724e-01 9.88267034e-01 -9.91599759e-03 -2.59861381e+00] [-7.14886659e-02 -1.01716669e-03 9.97440893e-01 -3.96276568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.627719421 meters 0.05416284556224739 Centerline is valid? [True, True] Translation: X:38.52, Y:-2.60, Z:-3.97 [[ 9.85445591e-01 1.54100641e-01 7.17633578e-02 3.85152439e+01] [-1.53774531e-01 9.88054542e-01 -1.00804295e-02 -2.59934137e+00] [-7.24595123e-02 -1.10166186e-03 9.97370746e-01 -3.96508400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.657719420999996 meters 0.054383524439487664 Centerline is valid? [True, True] Translation: X:38.55, Y:-2.60, Z:-3.97 [[ 9.85240802e-01 1.55664099e-01 7.11986708e-02 3.85467556e+01] [-1.55346581e-01 9.87809319e-01 -1.00094145e-02 -2.60201268e+00] [-7.18888171e-02 -1.19878656e-03 9.97411931e-01 -3.96857507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.687719421 meters 0.054492830544756315 Centerline is valid? [True, True] Translation: X:38.58, Y:-2.61, Z:-3.97 [[ 9.85140146e-01 1.56070789e-01 7.16993803e-02 3.85775628e+01] [-1.55748159e-01 9.87745127e-01 -1.01032461e-02 -2.60702683e+00] [-7.23975351e-02 -1.21393312e-03 9.97375117e-01 -3.97283317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.717719421 meters 0.05440775594475905 Centerline is valid? [True, True] Translation: X:38.61, Y:-2.61, Z:-3.97 [[ 9.84773259e-01 1.57441527e-01 7.37142766e-02 3.86093623e+01] [-1.57102718e-01 9.87527415e-01 -1.04086782e-02 -2.61062626e+00] [-7.44336272e-02 -1.33052528e-03 9.97225082e-01 -3.97443036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.747719421 meters 0.05468727757822603 Centerline is valid? [True, True] Translation: X:38.64, Y:-2.61, Z:-3.98 [[ 9.84485826e-01 1.59353329e-01 7.34450456e-02 3.86415127e+01] [-1.59020602e-01 9.87220554e-01 -1.03935252e-02 -2.61061177e+00] [-7.41627014e-02 -1.44699715e-03 9.97245105e-01 -3.97798233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.777719421 meters 0.056671083477494055 Centerline is valid? [True, True] Translation: X:38.67, Y:-2.60, Z:-3.98 [[ 9.83695017e-01 1.65341397e-01 7.07554714e-02 3.86733520e+01] [-1.65045941e-01 9.86234752e-01 -1.00425007e-02 -2.60328797e+00] [-7.14419459e-02 -1.79914546e-03 9.97443137e-01 -3.98274383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.807719421 meters 0.05891664080365916 Centerline is valid? [True, True] Translation: X:38.70, Y:-2.60, Z:-3.99 [[ 9.82768953e-01 1.71391203e-01 6.92115591e-02 3.87044665e+01] [-1.71123411e-01 9.85200621e-01 -9.82413878e-03 -2.60460715e+00] [-6.98710420e-02 -2.18885953e-03 9.97553631e-01 -3.98837908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.837719420999996 meters 0.06029686870705005 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.61, Z:-3.99 [[ 9.82406897e-01 1.73701858e-01 6.85882887e-02 3.87335666e+01] [-1.73444123e-01 9.84795538e-01 -9.74090923e-03 -2.60521747e+00] [-6.92374547e-02 -2.32669917e-03 9.97597495e-01 -3.99311894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.867719421 meters 0.06177012980709091 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.60, Z:-4.00 [[ 9.81773395e-01 1.77701514e-01 6.74030566e-02 3.87637231e+01] [-1.77462141e-01 9.84081090e-01 -9.57064373e-03 -2.60476909e+00] [-6.80307913e-02 -2.56528738e-03 9.97679924e-01 -3.99767809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.897719421 meters 0.06220430350534491 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.61, Z:-4.00 [[ 9.81698698e-01 1.78091898e-01 6.74606722e-02 3.87926435e+01] [-1.77852889e-01 9.84010445e-01 -9.58096924e-03 -2.60763531e+00] [-6.80882990e-02 -2.59245040e-03 9.97675931e-01 -4.00158626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.927719421 meters 0.06236065914433314 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.61, Z:-4.00 [[ 9.81696758e-01 1.77535015e-01 6.89405063e-02 3.88211636e+01] [-1.77284569e-01 9.84111003e-01 -9.78343610e-03 -2.61313963e+00] [-6.95820133e-02 -2.61772044e-03 9.97572800e-01 -4.00387051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.957719421 meters 0.06039799523976912 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.62, Z:-4.00 [[ 9.81935943e-01 1.74803356e-01 7.24264473e-02 3.88499929e+01] [-1.74519768e-01 9.84600061e-01 -1.02747303e-02 -2.62178260e+00] [-7.31071418e-02 -2.55071978e-03 9.97320831e-01 -4.00281737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.987719421 meters 0.05818392046335038 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.63, Z:-4.00 [[ 9.82417329e-01 1.70479610e-01 7.61110642e-02 3.88800846e+01] [-1.70153889e-01 9.85358406e-01 -1.07919590e-02 -2.63163662e+00] [-7.68364858e-02 -2.34838599e-03 9.97040942e-01 -4.00167244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.017719421 meters 0.05427717487478338 Centerline is valid? [True, True] Translation: X:38.91, Y:-2.65, Z:-4.00 [[ 9.84040812e-01 1.59195884e-01 7.95006312e-02 3.89083231e+01] [-1.58803374e-01 9.87245832e-01 -1.12762829e-02 -2.65144167e+00] [-8.02818047e-02 -1.52864590e-03 9.96771034e-01 -4.00064979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.047719421 meters 0.052542309387226954 Centerline is valid? [True, True] Translation: X:38.94, Y:-2.67, Z:-4.01 [[ 9.85742497e-01 1.49553673e-01 7.71066030e-02 3.89380366e+01] [-1.49155183e-01 9.88753345e-01 -1.09341130e-02 -2.67145114e+00] [-7.78746484e-02 -7.22629618e-04 9.96962896e-01 -4.00568973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.077719421 meters 0.052493478822677596 Centerline is valid? [True, True] Translation: X:38.97, Y:-2.68, Z:-4.01 [[ 9.86406833e-01 1.46070724e-01 7.52655566e-02 3.89673701e+01] [-1.45680398e-01 9.89274056e-01 -1.06800218e-02 -2.68030817e+00] [-7.60183010e-02 -4.29869806e-04 9.97106330e-01 -4.01139514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.107719421 meters 0.053131001474677926 Centerline is valid? [True, True] Translation: X:39.00, Y:-2.69, Z:-4.02 [[ 9.87775753e-01 1.38784755e-01 7.09778454e-02 3.89961757e+01] [-1.38418438e-01 9.90322561e-01 -1.00777503e-02 -2.69303605e+00] [-7.16895998e-02 1.29914881e-04 9.97426982e-01 -4.02151722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.137719421 meters 0.05359132652648659 Centerline is valid? [True, True] Translation: X:39.03, Y:-2.70, Z:-4.03 [[ 9.88251241e-01 1.36168915e-01 6.94082965e-02 3.90269900e+01] [-1.35810913e-01 9.90685579e-01 -9.87313585e-03 -2.70087747e+00] [-7.01062126e-02 3.30734631e-04 9.97539478e-01 -4.02661357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.167719421 meters 0.053989620162944736 Centerline is valid? [True, True] Translation: X:39.06, Y:-2.71, Z:-4.03 [[ 9.88923589e-01 1.31749409e-01 6.83536992e-02 3.90590230e+01] [-1.31390316e-01 9.91282839e-01 -9.74263707e-03 -2.70617396e+00] [-6.90414356e-02 6.53709517e-04 9.97613579e-01 -4.02909476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.197719421 meters 0.05368487732264205 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.71, Z:-4.03 [[ 9.88911935e-01 1.31359601e-01 6.92664390e-02 3.90910609e+01] [-1.30988406e-01 9.91334530e-01 -9.89382012e-03 -2.70904576e+00] [-6.99658610e-02 7.11016344e-04 9.97549133e-01 -4.02878340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.227719420999996 meters 0.053692152479379585 Centerline is valid? [True, True] Translation: X:39.12, Y:-2.71, Z:-4.03 [[ 9.88797713e-01 1.33232390e-01 6.72920036e-02 3.91223741e+01] [-1.32884687e-01 9.91084651e-01 -9.63713365e-03 -2.71028495e+00] [-6.79760503e-02 5.87098858e-04 9.97686780e-01 -4.03266307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.257719421 meters 0.0540087677736014 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.70, Z:-4.04 [[ 9.87752032e-01 1.41699080e-01 6.53245251e-02 3.91540631e+01] [-1.41389500e-01 9.89909779e-01 -9.36156472e-03 -2.70350454e+00] [-6.59919113e-02 1.07026531e-05 9.97820158e-01 -4.04367502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.287719421 meters 0.053862401691399414 Centerline is valid? [True, True] Translation: X:39.19, Y:-2.69, Z:-4.04 [[ 9.85761912e-01 1.54048589e-01 6.73979551e-02 3.91894475e+01] [-1.53746551e-01 9.88062931e-01 -9.67694204e-03 -2.68963029e+00] [-6.80841403e-02 -8.23042234e-04 9.97679243e-01 -4.04120841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.317719421 meters 0.05461436678868355 Centerline is valid? [True, True] Translation: X:39.22, Y:-2.69, Z:-4.04 [[ 9.84691233e-01 1.60373297e-01 6.82904227e-02 3.92221519e+01] [-1.60076565e-01 9.87055642e-01 -9.83120917e-03 -2.68561932e+00] [-6.89831105e-02 -1.25099078e-03 9.97617044e-01 -4.04161005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.347719421 meters 0.057189992836680345 Centerline is valid? [True, True] Translation: X:39.25, Y:-2.68, Z:-4.04 [[ 9.83056191e-01 1.69490728e-01 6.98098668e-02 3.92528150e+01] [-1.69201361e-01 9.85529947e-01 -1.00808474e-02 -2.67524269e+00] [-7.05083245e-02 -1.90188509e-03 9.97509378e-01 -4.04400100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.377719421 meters 0.05837300007781802 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.67, Z:-4.05 [[ 9.82492894e-01 1.72399336e-01 7.06129049e-02 3.92820716e+01] [-1.72110938e-01 9.85024822e-01 -1.01943316e-02 -2.67253096e+00] [-7.13129601e-02 -2.13739497e-03 9.97451700e-01 -4.04687434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.407719420999996 meters 0.05930441028837907 Centerline is valid? [True, True] Translation: X:39.31, Y:-2.67, Z:-4.05 [[ 9.82167809e-01 1.74412399e-01 7.01905197e-02 3.93117034e+01] [-1.74132938e-01 9.84670066e-01 -1.01281820e-02 -2.67176801e+00] [-7.08809842e-02 -2.27490707e-03 9.97482186e-01 -4.05080538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.437719421 meters 0.060708109888257596 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.67, Z:-4.06 [[ 9.81735192e-01 1.77707257e-01 6.79422018e-02 3.93412795e+01] [-1.77453477e-01 9.84080385e-01 -9.80100666e-03 -2.67253869e+00] [-6.86022981e-02 -2.43458681e-03 9.97641117e-01 -4.05657726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.467719421 meters 0.060985455946322854 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.68, Z:-4.06 [[ 9.81669867e-01 1.78295911e-01 6.73412280e-02 3.93694776e+01] [-1.78048080e-01 9.83973852e-01 -9.71290900e-03 -2.67665348e+00] [-6.79937794e-02 -2.45510627e-03 9.97682724e-01 -4.06033337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.497719421 meters 0.05961729668608871 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.69, Z:-4.06 [[ 9.82112466e-01 1.75930991e-01 6.71073007e-02 3.93976512e+01] [-1.75679764e-01 9.84399841e-01 -9.67335829e-03 -2.68503892e+00] [-6.77622597e-02 -2.28906899e-03 9.97698871e-01 -4.06264551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.527719421 meters 0.05809257564550578 Centerline is valid? [True, True] Translation: X:39.43, Y:-2.70, Z:-4.06 [[ 9.82773805e-01 1.71515575e-01 6.88335358e-02 3.94252018e+01] [-1.71240934e-01 9.85179290e-01 -9.91506512e-03 -2.69501732e+00] [-6.95139620e-02 -2.04285265e-03 9.97578887e-01 -4.06452036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.557719421 meters 0.05712059670304545 Centerline is valid? [True, True] Translation: X:39.45, Y:-2.70, Z:-4.07 [[ 9.83103390e-01 1.69381903e-01 6.94081861e-02 3.94542381e+01] [-1.69097721e-01 9.85548634e-01 -9.99249227e-03 -2.70311730e+00] [-7.00976904e-02 -1.91311308e-03 9.97538297e-01 -4.06632400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.587719420999996 meters 0.055474193830413736 Centerline is valid? [True, True] Translation: X:39.48, Y:-2.71, Z:-4.07 [[ 9.83696541e-01 1.66244723e-01 6.85843021e-02 3.94839261e+01] [-1.65960046e-01 9.86083103e-01 -9.86799425e-03 -2.71435136e+00] [-6.92703234e-02 -1.67514210e-03 9.97596520e-01 -4.06772862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.617719421 meters 0.053528174158512666 Centerline is valid? [True, True] Translation: X:39.51, Y:-2.73, Z:-4.07 [[ 9.84880205e-01 1.58203039e-01 7.05888176e-02 3.95123933e+01] [-1.57880477e-01 9.87405948e-01 -1.01611715e-02 -2.72956201e+00] [-7.13073466e-02 -1.13705949e-03 9.97453743e-01 -4.07053953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.647719421 meters 0.05229621826917085 Centerline is valid? [True, True] Translation: X:39.54, Y:-2.74, Z:-4.07 [[ 9.85970428e-01 1.50222961e-01 7.27693398e-02 3.95410269e+01] [-1.49858462e-01 9.88651975e-01 -1.04744018e-02 -2.74489861e+00] [-7.35170472e-02 -5.77650937e-04 9.97293793e-01 -4.07206574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.677719421 meters 0.05183938160759532 Centerline is valid? [True, True] Translation: X:39.57, Y:-2.76, Z:-4.07 [[ 9.86919562e-01 1.43621574e-01 7.32299276e-02 3.95700612e+01] [-1.43234703e-01 9.89632677e-01 -1.05349298e-02 -2.76226416e+00] [-7.39837724e-02 -9.19386555e-05 9.97259441e-01 -4.07402681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.707719421 meters 0.052104267665591564 Centerline is valid? [True, True] Translation: X:39.60, Y:-2.77, Z:-4.08 [[ 9.87293011e-01 1.41179726e-01 7.29437863e-02 3.96008281e+01] [-1.40787756e-01 9.89983976e-01 -1.05135560e-02 -2.77236242e+00] [-7.36974805e-02 1.10368316e-04 9.97280637e-01 -4.07848609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.737719421 meters 0.052265161049628445 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.78, Z:-4.08 [[ 9.87621601e-01 1.39332106e-01 7.20426142e-02 3.96320649e+01] [-1.38943108e-01 9.90245672e-01 -1.04077236e-02 -2.78248426e+00] [-7.27900170e-02 2.69067897e-04 9.97347252e-01 -4.08244920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.767719421 meters 0.05269368875749402 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.80, Z:-4.09 [[ 9.88154334e-01 1.36494473e-01 7.01446478e-02 3.96619333e+01] [-1.36117089e-01 9.90640713e-01 -1.01545958e-02 -2.79532779e+00] [-7.08741901e-02 4.86422573e-04 9.97485144e-01 -4.08721779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.797719421 meters 0.052403115677988714 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.80, Z:-4.09 [[ 9.88005049e-01 1.37202230e-01 7.08630482e-02 3.96926490e+01] [-1.36817434e-01 9.90542950e-01 -1.02787866e-02 -2.79784397e+00] [-7.16031652e-02 4.60192693e-04 9.97433093e-01 -4.08880664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.827719421 meters 0.05194821665023787 Centerline is valid? [True, True] Translation: X:39.73, Y:-2.80, Z:-4.09 [[ 9.87590323e-01 1.39272940e-01 7.25837657e-02 3.97255893e+01] [-1.38872892e-01 9.90253973e-01 -1.05541132e-02 -2.79891149e+00] [-7.33462647e-02 3.43222527e-04 9.97306476e-01 -4.08901249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.857719421 meters 0.051321506417697525 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.80, Z:-4.09 [[ 9.86924338e-01 1.43263326e-01 7.38645482e-02 3.97581822e+01] [-1.42859982e-01 9.89684605e-01 -1.07428376e-02 -2.79995845e+00] [-7.46416608e-02 5.00798135e-05 9.97210419e-01 -4.08862354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.887719421 meters 0.05193094027332971 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.80, Z:-4.09 [[ 9.85383723e-01 1.53564495e-01 7.37350982e-02 3.97894393e+01] [-1.53189579e-01 9.88138375e-01 -1.07472972e-02 -2.79588972e+00] [-7.45108834e-02 -7.05236934e-04 9.97219951e-01 -4.09447971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.917719421 meters 0.05417665285760139 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.79, Z:-4.10 [[ 9.83504622e-01 1.65260499e-01 7.35365650e-02 3.98223575e+01] [-1.64918129e-01 9.86248720e-01 -1.07458521e-02 -2.78684045e+00] [-7.43012079e-02 -1.55891755e-03 9.97234626e-01 -4.09861048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.947719421 meters 0.05580109659471512 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.78, Z:-4.10 [[ 9.82605490e-01 1.70348348e-01 7.39451945e-02 3.98545984e+01] [-1.70016284e-01 9.85381973e-01 -1.08087734e-02 -2.78207052e+00] [-7.47055184e-02 -1.95112712e-03 9.97203730e-01 -4.10195501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.977719420999996 meters 0.058921098488376164 Centerline is valid? [True, True] Translation: X:39.89, Y:-2.77, Z:-4.11 [[ 9.81489066e-01 1.77126748e-01 7.28376855e-02 3.98862864e+01] [-1.76822806e-01 9.84185062e-01 -1.06517481e-02 -2.77257651e+00] [-7.35724715e-02 -2.42478970e-03 9.97286926e-01 -4.10640882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.007719421 meters 0.06071987272937149 Centerline is valid? [True, True] Translation: X:39.92, Y:-2.77, Z:-4.11 [[ 9.81045364e-01 1.80126320e-01 7.14458060e-02 3.99154944e+01] [-1.79841836e-01 9.83640053e-01 -1.04479753e-02 -2.77326066e+00] [-7.21589118e-02 -2.59900721e-03 9.97389762e-01 -4.11133858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.037719421 meters 0.062472337768238885 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.78, Z:-4.12 [[ 9.80839880e-01 1.82226987e-01 6.88945167e-02 3.99428073e+01] [-1.81967875e-01 9.83252897e-01 -1.00714023e-02 -2.77901957e+00] [-6.95760144e-02 -2.65815574e-03 9.97573111e-01 -4.11848761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.067719421 meters 0.0631471724539918 Centerline is valid? [True, True] Translation: X:39.97, Y:-2.78, Z:-4.12 [[ 9.81010796e-01 1.82366589e-01 6.60321604e-02 3.99714786e+01] [-1.82129329e-01 9.83227266e-01 -9.64628876e-03 -2.78411805e+00] [-6.66837813e-02 -2.56327963e-03 9.97770867e-01 -4.12422222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.097719421 meters 0.05977282543320439 Centerline is valid? [True, True] Translation: X:40.00, Y:-2.79, Z:-4.12 [[ 9.81178625e-01 1.80823071e-01 6.77607758e-02 4.00005834e+01] [-1.80569742e-01 9.83512398e-01 -9.89601626e-03 -2.79421767e+00] [-6.84329911e-02 -2.52578615e-03 9.97652518e-01 -4.12106781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.127719421 meters 0.061302925928865895 Centerline is valid? [True, True] Translation: X:40.03, Y:-2.79, Z:-4.13 [[ 9.81388867e-01 1.79180408e-01 6.90671680e-02 4.00294677e+01] [-1.78913375e-01 9.83813155e-01 -1.00836279e-02 -2.79490836e+00] [-6.97559771e-02 -2.46107999e-03 9.97561049e-01 -4.12748852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.157719420999996 meters 0.061302925928865895 Centerline is valid? [True, True] Translation: X:40.06, Y:-2.80, Z:-4.13 [[ 9.81403069e-01 1.79102500e-01 6.90674296e-02 4.00573969e+01] [-1.78835401e-01 9.83827351e-01 -1.00818364e-02 -2.79887001e+00] [-6.97561083e-02 -2.45735635e-03 9.97561049e-01 -4.13039260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.187719421 meters 0.059118171181787374 Centerline is valid? [True, True] Translation: X:40.09, Y:-2.81, Z:-4.13 [[ 9.82243625e-01 1.75030751e-01 6.75403325e-02 4.00859966e+01] [-1.74766277e-01 9.84560668e-01 -9.85087648e-03 -2.81126740e+00] [-6.82217611e-02 -2.12781185e-03 9.97667913e-01 -4.13435314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.217719421 meters 0.05850199661710105 Centerline is valid? [True, True] Translation: X:40.11, Y:-2.82, Z:-4.14 [[ 9.82764406e-01 1.72510130e-01 6.64407849e-02 4.01137703e+01] [-1.72248402e-01 9.85005872e-01 -9.69123441e-03 -2.82073350e+00] [-6.71163994e-02 -1.92011879e-03 9.97743305e-01 -4.13909498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.247719421 meters 0.05521480072997958 Centerline is valid? [True, True] Translation: X:40.14, Y:-2.84, Z:-4.14 [[ 9.83884464e-01 1.65903386e-01 6.66890338e-02 4.01430729e+01] [-1.65624828e-01 9.86140902e-01 -9.72302757e-03 -2.84071628e+00] [-6.73778672e-02 -1.47902396e-03 9.97726433e-01 -4.14037775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.277719421 meters 0.0542225860217412 Centerline is valid? [True, True] Translation: X:40.17, Y:-2.85, Z:-4.14 [[ 9.84482857e-01 1.61975530e-01 6.75087522e-02 4.01726535e+01] [-1.61680488e-01 9.86794021e-01 -9.84784023e-03 -2.85152825e+00] [-6.82123422e-02 -1.21981811e-03 9.97670080e-01 -4.14416555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.307719421 meters 0.05315941119275208 Centerline is valid? [True, True] Translation: X:40.20, Y:-2.87, Z:-4.15 [[ 9.86096958e-01 1.53273437e-01 6.41875689e-02 4.02028195e+01] [-1.52988862e-01 9.88183636e-01 -9.35463044e-03 -2.86906727e+00] [-6.48629216e-02 -5.95410479e-04 9.97894006e-01 -4.15235712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.337719420999996 meters 0.05318741563830082 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.88, Z:-4.16 [[ 9.87518653e-01 1.44524695e-01 6.26060832e-02 4.02317460e+01] [-1.44234890e-01 9.89501194e-01 -9.14789095e-03 -2.88385976e+00] [-6.32708902e-02 3.73140627e-06 9.97996390e-01 -4.15843754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.367719421 meters 0.053274854090523224 Centerline is valid? [True, True] Translation: X:40.26, Y:-2.89, Z:-4.16 [[ 9.88013579e-01 1.41417548e-01 6.18889686e-02 4.02624862e+01] [-1.41127233e-01 9.89950014e-01 -9.05946571e-03 -2.89346584e+00] [-6.25481528e-02 2.16656271e-04 9.98041924e-01 -4.16084993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.397719421 meters 0.053210980061114806 Centerline is valid? [True, True] Translation: X:40.29, Y:-2.91, Z:-4.16 [[ 9.88203976e-01 1.39590190e-01 6.29879335e-02 4.02936765e+01] [-1.39284524e-01 9.90209297e-01 -9.23961095e-03 -2.90685441e+00] [-6.36609963e-02 3.57375981e-04 9.97971518e-01 -4.16049952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.427719421 meters 0.053217351781719165 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.91, Z:-4.16 [[ 9.88141543e-01 1.40032506e-01 6.29856123e-02 4.03263412e+01] [-1.39726670e-01 9.90146846e-01 -9.25636238e-03 -2.91391178e+00] [-6.36611970e-02 3.45826375e-04 9.97971509e-01 -4.16333397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.457719421 meters 0.053106794813403246 Centerline is valid? [True, True] Translation: X:40.36, Y:-2.92, Z:-4.17 [[ 9.87945928e-01 1.42210782e-01 6.11468389e-02 4.03581232e+01] [-1.41925418e-01 9.89836373e-01 -9.00726648e-03 -2.91618840e+00] [-6.18062957e-02 2.20401585e-04 9.98088139e-01 -4.16688564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.487719421 meters 0.05287196502671546 Centerline is valid? [True, True] Translation: X:40.39, Y:-2.92, Z:-4.17 [[ 9.87524001e-01 1.44676367e-01 6.21698997e-02 4.03905598e+01] [-1.44385041e-01 9.89479025e-01 -9.17705826e-03 -2.91725167e+00] [-6.28435152e-02 8.61617566e-05 9.98023389e-01 -4.17011427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.517719421 meters 0.052203692388602 Centerline is valid? [True, True] Translation: X:40.42, Y:-2.91, Z:-4.17 [[ 9.86553264e-01 1.49256850e-01 6.65961710e-02 4.04226128e+01] [-1.48930848e-01 9.88798441e-01 -9.86131482e-03 -2.91207915e+00] [-6.73220589e-02 -1.89511921e-04 9.97731279e-01 -4.16883453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.547719421 meters 0.051928883218189954 Centerline is valid? [True, True] Translation: X:40.45, Y:-2.91, Z:-4.17 [[ 9.85918653e-01 1.51922531e-01 6.98852952e-02 4.04539213e+01] [-1.51569951e-01 9.88392328e-01 -1.03515772e-02 -2.91106334e+00] [-7.06467274e-02 -3.86697657e-04 9.97501323e-01 -4.16913097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.577719421 meters 0.0523396656053453 Centerline is valid? [True, True] Translation: X:40.49, Y:-2.91, Z:-4.17 [[ 9.85223650e-01 1.55924063e-01 7.08663976e-02 4.04872766e+01] [-1.55571967e-01 9.87768808e-01 -1.04950301e-02 -2.90600513e+00] [-7.16360448e-02 -6.84873070e-04 9.97430603e-01 -4.17101606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.607719421 meters 0.053724409826866416 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.91, Z:-4.18 [[ 9.84800849e-01 1.59795149e-01 6.80646583e-02 4.05187086e+01] [-1.59478337e-01 9.87149777e-01 -1.00984003e-02 -2.90599166e+00] [-6.88036876e-02 -9.09925260e-04 9.97629803e-01 -4.17808665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.637719421 meters 0.05438798651592745 Centerline is valid? [True, True] Translation: X:40.55, Y:-2.91, Z:-4.18 [[ 9.84534048e-01 1.61992666e-01 6.67164566e-02 4.05503696e+01] [-1.61693719e-01 9.86791405e-01 -9.89258242e-03 -2.90903401e+00] [-6.74377518e-02 -1.04804781e-03 9.97722933e-01 -4.18321295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.667719421 meters 0.05578170901505772 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.90, Z:-4.19 [[ 9.83700557e-01 1.66874593e-01 6.69782448e-02 4.05823665e+01] [-1.66582716e-01 9.85977190e-01 -9.95892609e-03 -2.90334870e+00] [-6.77009133e-02 -1.36081680e-03 9.97704733e-01 -4.18717731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.697719421 meters 0.05709571068624231 Centerline is valid? [True, True] Translation: X:40.61, Y:-2.90, Z:-4.19 [[ 9.83155293e-01 1.69779368e-01 6.76803948e-02 4.06130381e+01] [-1.69487871e-01 9.85480844e-01 -1.00681705e-02 -2.89899258e+00] [-6.84071002e-02 -1.57243085e-03 9.97656251e-01 -4.19008941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.727719420999996 meters 0.05598774093998053 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.90, Z:-4.19 [[ 9.82653246e-01 1.72762287e-01 6.74224826e-02 4.06435332e+01] [-1.72480101e-01 9.84961950e-01 -1.00285204e-02 -2.90127663e+00] [-6.81411300e-02 -1.77447849e-03 9.97674114e-01 -4.18660886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.757719421 meters 0.058948992472448794 Centerline is valid? [True, True] Translation: X:40.67, Y:-2.90, Z:-4.19 [[ 9.81371164e-01 1.79544989e-01 6.83683874e-02 4.06740127e+01] [-1.79271337e-01 9.83747125e-01 -1.01676472e-02 -2.89659076e+00] [-6.90827547e-02 -2.27825648e-03 9.97608331e-01 -4.19048876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.787719421 meters 0.0597842581852406 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.90, Z:-4.19 [[ 9.80527805e-01 1.83407080e-01 7.01930596e-02 4.07030445e+01] [-1.83128500e-01 9.83033562e-01 -1.04387724e-02 -2.89965100e+00] [-7.09166782e-02 -2.61884312e-03 9.97478805e-01 -4.19118976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.817719421 meters 0.06037214152831649 Centerline is valid? [True, True] Translation: X:40.73, Y:-2.90, Z:-4.19 [[ 9.80348218e-01 1.84342583e-01 7.02508634e-02 4.07317343e+01] [-1.84066272e-01 9.82858361e-01 -1.04426745e-02 -2.90324049e+00] [-7.09716781e-02 -2.69335727e-03 9.97474695e-01 -4.19474962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.847719421 meters 0.06489018190600328 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.90, Z:-4.21 [[ 9.80291819e-01 1.84415056e-01 7.08451661e-02 4.07593578e+01] [-1.84134483e-01 9.82844678e-01 -1.05275891e-02 -2.89825552e+00] [-7.15712404e-02 -2.72492863e-03 9.97431768e-01 -4.20527355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.877719421 meters 0.06045324005934096 Centerline is valid? [True, True] Translation: X:40.79, Y:-2.91, Z:-4.20 [[ 9.80811475e-01 1.82632803e-01 6.82210393e-02 4.07874506e+01] [-1.82368974e-01 9.83177996e-01 -1.01284160e-02 -2.91143178e+00] [-6.89232057e-02 -2.50733436e-03 9.97618817e-01 -4.20439286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.907719420999996 meters 0.058271482350618076 Centerline is valid? [True, True] Translation: X:40.81, Y:-2.93, Z:-4.21 [[ 9.82230693e-01 1.75617547e-01 6.61917115e-02 4.08144690e+01] [-1.75353509e-01 9.84456522e-01 -9.82358602e-03 -2.92549702e+00] [-6.68880562e-02 -1.95792120e-03 9.97758565e-01 -4.20996538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.937719421 meters 0.05672876026901334 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.94, Z:-4.21 [[ 9.83017489e-01 1.70859926e-01 6.69589565e-02 4.08438754e+01] [-1.70578955e-01 9.85293936e-01 -9.93374194e-03 -2.93764009e+00] [-6.76715322e-02 -1.65674680e-03 9.97706279e-01 -4.21336272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.967719421 meters 0.05395894232558316 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.96, Z:-4.22 [[ 9.84576928e-01 1.60489544e-01 6.96518361e-02 4.08710438e+01] [-1.60159202e-01 9.87037057e-01 -1.03381619e-02 -2.95729340e+00] [-7.04081102e-02 -9.76666769e-04 9.97517791e-01 -4.21574663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.997719421 meters 0.052481037577586286 Centerline is valid? [True, True] Translation: X:40.90, Y:-2.98, Z:-4.22 [[ 9.86389933e-01 1.48954131e-01 6.96244750e-02 4.09010218e+01] [-1.48595605e-01 9.88844094e-01 -1.03297633e-02 -2.97537881e+00] [-7.03864118e-02 -1.56716451e-04 9.97519789e-01 -4.21931475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.027719421 meters 0.05299719214680978 Centerline is valid? [True, True] Translation: X:40.93, Y:-2.99, Z:-4.23 [[ 9.87232850e-01 1.43737511e-01 6.86354677e-02 4.09299459e+01] [-1.43376116e-01 9.89615825e-01 -1.01886602e-02 -2.98544063e+00] [-6.93872376e-02 2.17893232e-04 9.97589777e-01 -4.22646167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.057719421 meters 0.054039195729743084 Centerline is valid? [True, True] Translation: X:40.96, Y:-3.00, Z:-4.23 [[ 9.88469197e-01 1.34779762e-01 6.90149379e-02 4.09603550e+01] [-1.34392144e-01 9.90875210e-01 -1.02503967e-02 -3.00112257e+00] [-6.97667371e-02 8.57135953e-04 9.97562964e-01 -4.22788542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.087719420999996 meters 0.05429538916527741 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.01, Z:-4.23 [[ 9.88849698e-01 1.31938010e-01 6.90553196e-02 4.09916637e+01] [-1.31541664e-01 9.91257384e-01 -1.02756961e-02 -3.01029537e+00] [-6.98073503e-02 1.07746738e-03 9.97559909e-01 -4.22797741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.117719421 meters 0.055087747641938856 Centerline is valid? [True, True] Translation: X:41.02, Y:-3.02, Z:-4.23 [[ 9.89195581e-01 1.29266081e-01 6.91547690e-02 4.10225462e+01] [-1.28860618e-01 9.91609107e-01 -1.03112046e-02 -3.02073803e+00] [-6.99073878e-02 1.28847175e-03 9.97552654e-01 -4.23058567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.147719421 meters 0.055152547406709426 Centerline is valid? [True, True] Translation: X:41.06, Y:-3.02, Z:-4.23 [[ 9.89203735e-01 1.28895198e-01 6.97280356e-02 4.10552653e+01] [-1.28480680e-01 9.91657309e-01 -1.04161308e-02 -3.02467300e+00] [-7.04889054e-02 1.34496999e-03 9.97511657e-01 -4.23325522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.177719421 meters 0.05484521691869515 Centerline is valid? [True, True] Translation: X:41.09, Y:-3.02, Z:-4.23 [[ 9.89012560e-01 1.29308160e-01 7.16488353e-02 4.10885142e+01] [-1.28869618e-01 9.91603500e-01 -1.07294516e-02 -3.02167409e+00] [-7.24346414e-02 1.37820434e-03 9.97372209e-01 -4.23399001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.207719421 meters 0.053588848149718614 Centerline is valid? [True, True] Translation: X:41.12, Y:-3.02, Z:-4.23 [[ 9.88620760e-01 1.31865258e-01 7.23916145e-02 4.11215486e+01] [-1.31422864e-01 9.91266894e-01 -1.08616584e-02 -3.01899455e+00] [-7.31916862e-02 1.22414764e-03 9.97317140e-01 -4.23227460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.237719421 meters 0.053344458654854474 Centerline is valid? [True, True] Translation: X:41.15, Y:-3.02, Z:-4.24 [[ 9.87649783e-01 1.38127171e-01 7.39512708e-02 4.11522433e+01] [-1.37680697e-01 9.90414173e-01 -1.11262085e-02 -3.01802978e+00] [-7.47792184e-02 8.07134979e-04 9.97199788e-01 -4.24020843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.267719420999995 meters 0.052310341089714066 Centerline is valid? [True, True] Translation: X:41.18, Y:-3.02, Z:-4.24 [[ 9.87035528e-01 1.42491106e-01 7.38725355e-02 4.11849337e+01] [-1.42058024e-01 9.89795969e-01 -1.11111112e-02 -3.01768452e+00] [-7.47019725e-02 4.72875103e-04 9.97205792e-01 -4.24158401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.297719421 meters 0.051942964733249226 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.01, Z:-4.25 [[ 9.85876309e-01 1.50629960e-01 7.32018955e-02 4.12178335e+01] [-1.50225417e-01 9.88590209e-01 -1.10328358e-02 -3.00948918e+00] [-7.40285527e-02 -1.19773801e-04 9.97256115e-01 -4.24703237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.327719421 meters 0.05204325689764213 Centerline is valid? [True, True] Translation: X:41.25, Y:-3.01, Z:-4.25 [[ 9.85128086e-01 1.55118024e-01 7.38989431e-02 4.12520998e+01] [-1.54717449e-01 9.87895843e-01 -1.11496418e-02 -3.00515561e+00] [-7.47339691e-02 -4.49630604e-04 9.97203405e-01 -4.25055902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.357719421 meters 0.05387465521933933 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.99, Z:-4.26 [[ 9.83893215e-01 1.63055191e-01 7.32608119e-02 4.12844249e+01] [-1.62681123e-01 9.86616430e-01 -1.10847441e-02 -2.98986622e+00] [-7.40877458e-02 -1.01194662e-03 9.97251213e-01 -4.25641405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.387719421 meters 0.05534553664133324 Centerline is valid? [True, True] Translation: X:41.31, Y:-2.99, Z:-4.26 [[ 9.83388331e-01 1.66639234e-01 7.19635703e-02 4.13141704e+01] [-1.66287701e-01 9.86017133e-01 -1.08909952e-02 -2.98674369e+00] [-7.27721804e-02 -1.25657903e-03 9.97347798e-01 -4.26169383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.417719421 meters 0.0561201311985562 Centerline is valid? [True, True] Translation: X:41.35, Y:-2.99, Z:-4.26 [[ 9.82362792e-01 1.73238702e-01 7.03683020e-02 4.13451477e+01] [-1.72919616e-01 9.84878385e-01 -1.06476439e-02 -2.98698988e+00] [-7.11488037e-02 -1.70821057e-03 9.97464250e-01 -4.26075380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.447719421 meters 0.060007571992963915 Centerline is valid? [True, True] Translation: X:41.37, Y:-2.98, Z:-4.27 [[ 9.81857544e-01 1.76442552e-01 6.94535011e-02 4.13740838e+01] [-1.76139566e-01 9.84309081e-01 -1.05112600e-02 -2.98207340e+00] [-7.02183454e-02 -1.91294959e-03 9.97529811e-01 -4.27077953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.477719420999996 meters 0.05890530240559593 Centerline is valid? [True, True] Translation: X:41.40, Y:-2.99, Z:-4.27 [[ 9.80898287e-01 1.82840042e-01 6.63932920e-02 4.14043308e+01] [-1.82578165e-01 9.83140051e-01 -1.00425609e-02 -2.98542803e+00] [-6.71100868e-02 -2.27123467e-03 9.97742992e-01 -4.26795860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.507719421 meters 0.0626954417540026 Centerline is valid? [True, True] Translation: X:41.43, Y:-2.98, Z:-4.27 [[ 9.79637142e-01 1.89952936e-01 6.50303989e-02 4.14343826e+01] [-1.89717365e-01 9.81789479e-01 -9.83566361e-03 -2.98105867e+00] [-6.57144747e-02 -2.70201452e-03 9.97834809e-01 -4.27451469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.537719421 meters 0.06497197064476955 Centerline is valid? [True, True] Translation: X:41.46, Y:-2.98, Z:-4.28 [[ 9.79086525e-01 1.92594010e-01 6.55524471e-02 4.14620973e+01] [-1.92360486e-01 9.81274237e-01 -9.91542617e-03 -2.98113464e+00] [-6.62345792e-02 -2.90164040e-03 9.97799860e-01 -4.27779199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.567719421 meters 0.06594966762129334 Centerline is valid? [True, True] Translation: X:41.49, Y:-2.98, Z:-4.27 [[ 9.77993750e-01 1.97264219e-01 6.79341772e-02 4.14924871e+01] [-1.97025323e-01 9.80344653e-01 -1.02656348e-02 -2.98238919e+00] [-6.86239498e-02 -3.34502657e-03 9.97636990e-01 -4.27492290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.597719421 meters 0.06669767413659092 Centerline is valid? [True, True] Translation: X:41.52, Y:-2.99, Z:-4.28 [[ 9.77841561e-01 1.98076730e-01 6.77605358e-02 4.15206066e+01] [-1.97841103e-01 9.80180639e-01 -1.02378642e-02 -2.98517656e+00] [-6.84454479e-02 -3.39481005e-03 9.97649085e-01 -4.27829251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.627719421 meters 0.06539735416088366 Centerline is valid? [True, True] Translation: X:41.55, Y:-3.00, Z:-4.28 [[ 9.78271619e-01 1.96193233e-01 6.70287605e-02 4.15475525e+01] [-1.95958652e-01 9.80559922e-01 -1.01215345e-02 -2.99780809e+00] [-6.77114928e-02 -3.23325559e-03 9.97699704e-01 -4.28322424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.657719420999996 meters 0.06534228866236257 Centerline is valid? [True, True] Translation: X:41.58, Y:-3.01, Z:-4.29 [[ 9.78949011e-01 1.92642379e-01 6.74369924e-02 4.15753899e+01] [-1.92397052e-01 9.81264405e-01 -1.01755135e-02 -3.00721133e+00] [-6.81337553e-02 -3.01336966e-03 9.97671645e-01 -4.28881109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.687719421 meters 0.06035687686349795 Centerline is valid? [True, True] Translation: X:41.60, Y:-3.03, Z:-4.29 [[ 9.80697428e-01 1.82743391e-01 6.95514771e-02 4.16027498e+01] [-1.82457860e-01 9.83157709e-01 -1.04903526e-02 -3.03002773e+00] [-7.02971135e-02 -2.40235189e-03 9.97523205e-01 -4.29018853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.717719421 meters 0.05708304828621602 Centerline is valid? [True, True] Translation: X:41.63, Y:-3.05, Z:-4.29 [[ 9.81884563e-01 1.76725676e-01 6.83428100e-02 4.16312836e+01] [-1.76435521e-01 9.84258238e-01 -1.03066876e-02 -3.04576043e+00] [-6.90884301e-02 -1.93812188e-03 9.97608657e-01 -4.29144829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.747719421 meters 0.0558134678510311 Centerline is valid? [True, True] Translation: X:41.66, Y:-3.06, Z:-4.30 [[ 9.83926560e-01 1.66151286e-01 6.54390872e-02 4.16588845e+01] [-1.65861993e-01 9.86099609e-01 -9.86715820e-03 -3.06327053e+00] [-6.61688993e-02 -1.14529837e-03 9.97807780e-01 -4.30190469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.777719421 meters 0.054974704936285555 Centerline is valid? [True, True] Translation: X:41.69, Y:-3.08, Z:-4.31 [[ 9.84483630e-01 1.62592894e-01 6.59964566e-02 4.16893543e+01] [-1.62291032e-01 9.86692812e-01 -9.94561010e-03 -3.07620607e+00] [-6.67353149e-02 -9.19342728e-04 9.97770290e-01 -4.30523764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.807719421 meters 0.05295013642817037 Centerline is valid? [True, True] Translation: X:41.72, Y:-3.10, Z:-4.30 [[ 9.85416745e-01 1.55915638e-01 6.81480125e-02 4.17188401e+01] [-1.55575845e-01 9.87770271e-01 -1.02980126e-02 -3.09721021e+00] [-6.89202020e-02 -4.54350599e-04 9.97622072e-01 -4.30102073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.837719420999996 meters 0.05269227447639474 Centerline is valid? [True, True] Translation: X:41.75, Y:-3.11, Z:-4.30 [[ 9.85707835e-01 1.53593375e-01 6.92036049e-02 4.17491405e+01] [-1.53237400e-01 9.88134093e-01 -1.04552926e-02 -3.10684114e+00] [-6.99883050e-02 -2.98716714e-04 9.97547767e-01 -4.30379634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.867719421 meters 0.053181937793342605 Centerline is valid? [True, True] Translation: X:41.78, Y:-3.12, Z:-4.31 [[ 9.86465496e-01 1.49867577e-01 6.65246929e-02 4.17788478e+01] [-1.49528991e-01 9.88706078e-01 -1.00683607e-02 -3.11661257e+00] [-6.72822890e-02 -1.52797879e-05 9.97733979e-01 -4.30964510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.897719421 meters 0.05354236470065694 Centerline is valid? [True, True] Translation: X:41.81, Y:-3.13, Z:-4.31 [[ 9.86981566e-01 1.46901186e-01 6.54784701e-02 4.18095287e+01] [-1.46565528e-01 9.89151152e-01 -9.92698140e-03 -3.12661984e+00] [-6.62263894e-02 2.00861124e-04 9.97804603e-01 -4.31336808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.927719421 meters 0.05338301454263492 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.13, Z:-4.32 [[ 9.86881361e-01 1.47315236e-01 6.60560396e-02 4.18406832e+01] [-1.46973186e-01 9.89089573e-01 -1.00348969e-02 -3.13316169e+00] [-6.68136333e-02 1.94786088e-04 9.97765454e-01 -4.31582702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.957719421 meters 0.053739690789562915 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.14, Z:-4.32 [[ 9.86381716e-01 1.50923866e-01 6.53689321e-02 4.18708307e+01] [-1.50595459e-01 9.88545389e-01 -9.95096701e-03 -3.13704476e+00] [-6.61219948e-02 -2.88124304e-05 9.97811546e-01 -4.32112341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.987719421 meters 0.0536122630555848 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.14, Z:-4.32 [[ 9.85961631e-01 1.53594935e-01 6.54847914e-02 4.19041572e+01] [-1.53270156e-01 9.88133877e-01 -9.98501081e-03 -3.13978506e+00] [-6.62413879e-02 -1.92026624e-04 9.97803609e-01 -4.32403607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.017719420999995 meters 0.053946568774594715 Centerline is valid? [True, True] Translation: X:41.94, Y:-3.13, Z:-4.33 [[ 9.84672828e-01 1.61720340e-01 6.53142673e-02 4.19383473e+01] [-1.61413545e-01 9.86836371e-01 -9.98221166e-03 -3.13129733e+00] [-6.60688212e-02 -7.13394877e-04 9.97814813e-01 -4.32626954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.047719421 meters 0.053946568774594715 Centerline is valid? [True, True] Translation: X:41.97, Y:-3.14, Z:-4.33 [[ 9.84618469e-01 1.62052060e-01 6.53115687e-02 4.19703072e+01] [-1.61744826e-01 9.86781949e-01 -9.99982951e-03 -3.13648043e+00] [-6.60687700e-02 -7.17791480e-04 9.97814814e-01 -4.32960186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.077719421 meters 0.05441903505531161 Centerline is valid? [True, True] Translation: X:42.00, Y:-3.13, Z:-4.33 [[ 9.83759177e-01 1.67059702e-01 6.56424926e-02 4.20030039e+01] [-1.66758872e-01 9.85946238e-01 -1.00744867e-02 -3.13401350e+00] [-6.64030094e-02 -1.03559922e-03 9.97792347e-01 -4.33035759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.107719421 meters 0.05572374288482688 Centerline is valid? [True, True] Translation: X:42.04, Y:-3.13, Z:-4.33 [[ 9.82584126e-01 1.73505745e-01 6.65145988e-02 4.20356347e+01] [-1.73210171e-01 9.84831760e-01 -1.02293829e-02 -3.13102867e+00] [-6.72805461e-02 -1.46977582e-03 9.97733014e-01 -4.33254306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.137719421 meters 0.0571330263446122 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.13, Z:-4.34 [[ 9.82236731e-01 1.74996187e-01 6.77298921e-02 4.20658625e+01] [-1.74691085e-01 9.84567860e-01 -1.04476992e-02 -3.13299450e+00] [-6.85129824e-02 -1.56969442e-03 9.97648990e-01 -4.33829864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.167719421 meters 0.0559259207498735 Centerline is valid? [True, True] Translation: X:42.10, Y:-3.15, Z:-4.34 [[ 9.82307910e-01 1.74430608e-01 6.81552062e-02 4.20968210e+01] [-1.74120838e-01 9.84668253e-01 -1.05055029e-02 -3.14505450e+00] [-6.89427490e-02 -1.54760307e-03 9.97619418e-01 -4.33914708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.197719421 meters 0.05548570568779477 Centerline is valid? [True, True] Translation: X:42.13, Y:-3.15, Z:-4.34 [[ 9.82460200e-01 1.73325629e-01 6.87763154e-02 4.21279602e+01] [-1.73005997e-01 9.84863487e-01 -1.06225141e-02 -3.15227426e+00] [-6.95764357e-02 -1.46251768e-03 9.97575551e-01 -4.34199111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.227719420999996 meters 0.05587775402318127 Centerline is valid? [True, True] Translation: X:42.16, Y:-3.15, Z:-4.34 [[ 9.82198395e-01 1.75436699e-01 6.71437054e-02 4.21601453e+01] [-1.75135163e-01 9.84489498e-01 -1.03972700e-02 -3.15471205e+00] [-6.79263355e-02 -1.54704189e-03 9.97689140e-01 -4.34446828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.257719421 meters 0.05722644071213836 Centerline is valid? [True, True] Translation: X:42.19, Y:-3.16, Z:-4.35 [[ 9.81894358e-01 1.78273644e-01 6.40466861e-02 4.21907838e+01] [-1.78004815e-01 9.83979558e-01 -9.92552643e-03 -3.15567320e+00] [-6.47900896e-02 -1.65480012e-03 9.97897543e-01 -4.35087720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.287719421 meters 0.06116002228979888 Centerline is valid? [True, True] Translation: X:42.22, Y:-3.15, Z:-4.36 [[ 9.80409770e-01 1.87055694e-01 6.16996764e-02 4.22205785e+01] [-1.86823359e-01 9.82346959e-01 -9.56481115e-03 -3.15268696e+00] [-6.23996418e-02 -2.14950649e-03 9.98048929e-01 -4.35836190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.317719421 meters 0.06318073812039181 Centerline is valid? [True, True] Translation: X:42.25, Y:-3.15, Z:-4.36 [[ 9.78690490e-01 1.95489900e-01 6.28380760e-02 4.22509251e+01] [-1.95266304e-01 9.80701893e-01 -9.73995508e-03 -3.15386672e+00] [-6.35294830e-02 -2.73775744e-03 9.97976207e-01 -4.35771049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.347719421 meters 0.0647780440106295 Centerline is valid? [True, True] Translation: X:42.28, Y:-3.16, Z:-4.36 [[ 9.78115136e-01 1.98391877e-01 6.27012267e-02 4.22800511e+01] [-1.98175177e-01 9.80118431e-01 -9.71903595e-03 -3.15544746e+00] [-6.33828058e-02 -2.91949051e-03 9.97985018e-01 -4.36095016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.377719421 meters 0.06717694744775744 Centerline is valid? [True, True] Translation: X:42.31, Y:-3.16, Z:-4.36 [[ 9.77427153e-01 2.01896223e-01 6.22420768e-02 4.23087036e+01] [-2.01690027e-01 9.79401926e-01 -9.64366379e-03 -3.15750709e+00] [-6.29070292e-02 -3.12762729e-03 9.98014491e-01 -4.36479320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.407719420999996 meters 0.06834327090649933 Centerline is valid? [True, True] Translation: X:42.34, Y:-3.16, Z:-4.37 [[ 9.77185203e-01 2.02826607e-01 6.30114807e-02 4.23359381e+01] [-2.02617374e-01 9.79209343e-01 -9.76026884e-03 -3.16213562e+00] [-6.36810729e-02 -3.22963047e-03 9.97965075e-01 -4.36819775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.437719421 meters 0.06751607928834061 Centerline is valid? [True, True] Translation: X:42.36, Y:-3.17, Z:-4.37 [[ 9.77346850e-01 2.01909150e-01 6.34494241e-02 4.23642619e+01] [-2.01695471e-01 9.79399034e-01 -9.82189056e-03 -3.17029402e+00] [-6.41254342e-02 -3.19806766e-03 9.97936722e-01 -4.37058366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.467719421 meters 0.06553579557143956 Centerline is valid? [True, True] Translation: X:42.39, Y:-3.18, Z:-4.37 [[ 9.78533624e-01 1.95692953e-01 6.46236342e-02 4.23915948e+01] [-1.95458567e-01 9.80661063e-01 -9.99137782e-03 -3.18258240e+00] [-6.53291240e-02 -2.85434376e-03 9.97859689e-01 -4.37420557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.497719421 meters 0.06248421722519603 Centerline is valid? [True, True] Translation: X:42.42, Y:-3.20, Z:-4.38 [[ 9.79423520e-01 1.90947301e-01 6.53352609e-02 4.24204124e+01] [-1.90697411e-01 9.81596928e-01 -1.00979842e-02 -3.19678120e+00] [-6.60610742e-02 -2.56906188e-03 9.97812274e-01 -4.37567647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.527719421 meters 0.05849331336277649 Centerline is valid? [True, True] Translation: X:42.45, Y:-3.22, Z:-4.38 [[ 9.80994777e-01 1.82374884e-01 6.62468859e-02 4.24479925e+01] [-1.82098294e-01 9.83227000e-01 -1.02409980e-02 -3.21789438e+00] [-6.70034277e-02 -2.01707941e-03 9.97750706e-01 -4.37744542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.557719421 meters 0.05579913366617731 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.24, Z:-4.38 [[ 9.82345611e-01 1.73973492e-01 6.87773593e-02 4.24747082e+01] [-1.73654718e-01 9.84749196e-01 -1.06329633e-02 -3.23560251e+00] [-6.95783031e-02 -1.49826810e-03 9.97575368e-01 -4.37968771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.587719420999996 meters 0.05447199936419926 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.25, Z:-4.38 [[ 9.83053427e-01 1.69568594e-01 6.96595423e-02 4.25043313e+01] [-1.69230743e-01 9.85517651e-01 -1.07663770e-02 -3.24721151e+00] [-7.04763479e-02 -1.20461226e-03 9.97512723e-01 -4.38160320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.617719421 meters 0.053454930362890424 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.27, Z:-4.39 [[ 9.84521511e-01 1.61538197e-01 6.79912150e-02 4.25330047e+01] [-1.61197585e-01 9.86866266e-01 -1.05029375e-02 -3.26562874e+00] [-6.87948621e-02 -6.19651757e-04 9.97630635e-01 -4.38791846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.647719421 meters 0.053244950070140365 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.28, Z:-4.39 [[ 9.84926554e-01 1.59750869e-01 6.63275440e-02 4.25641450e+01] [-1.59421443e-01 9.87157254e-01 -1.02644679e-02 -3.27658430e+00] [-6.71154738e-02 -4.64285779e-04 9.97745107e-01 -4.39051941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.677719421 meters 0.05339507115183446 Centerline is valid? [True, True] Translation: X:42.60, Y:-3.28, Z:-4.39 [[ 9.84543389e-01 1.62143817e-01 6.62094999e-02 4.25953477e+01] [-1.61819578e-01 9.86766951e-01 -1.02668671e-02 -3.28388686e+00] [-6.69980553e-02 -6.05817190e-04 9.97752922e-01 -4.39353161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.707719421 meters 0.05385821198867934 Centerline is valid? [True, True] Translation: X:42.63, Y:-3.28, Z:-4.40 [[ 9.83907200e-01 1.65501933e-01 6.73478440e-02 4.26272126e+01] [-1.65172884e-01 9.86209118e-01 -1.04639678e-02 -3.28484685e+00] [-6.81508647e-02 -8.28464332e-04 9.97674683e-01 -4.39706681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.737719421 meters 0.05634768733346788 Centerline is valid? [True, True] Translation: X:42.66, Y:-3.28, Z:-4.40 [[ 9.82467537e-01 1.74109210e-01 6.66597445e-02 4.26583652e+01] [-1.73804436e-01 9.84725384e-01 -1.03892099e-02 -3.27962844e+00] [-6.74503996e-02 -1.37869785e-03 9.97721676e-01 -4.40293718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.767719420999995 meters 0.05787407325452407 Centerline is valid? [True, True] Translation: X:42.69, Y:-3.28, Z:-4.41 [[ 9.81661932e-01 1.79252842e-01 6.48711799e-02 4.26893182e+01] [-1.78975330e-01 9.83801597e-01 -1.01117821e-02 -3.28160903e+00] [-6.56329361e-02 -1.68398928e-03 9.97842413e-01 -4.40711519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.797719421 meters 0.06213386393962244 Centerline is valid? [True, True] Translation: X:42.72, Y:-3.28, Z:-4.41 [[ 9.79959670e-01 1.87974652e-01 6.59133875e-02 4.27201896e+01] [-1.87707762e-01 9.82171178e-01 -1.02748295e-02 -3.27932130e+00] [-6.66696370e-02 -2.30353592e-03 9.97772446e-01 -4.41122211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.827719421 meters 0.06310355302729553 Centerline is valid? [True, True] Translation: X:42.75, Y:-3.28, Z:-4.41 [[ 9.79012845e-01 1.92234146e-01 6.76748281e-02 4.27524036e+01] [-1.91962810e-01 9.81345480e-01 -1.05512437e-02 -3.28213151e+00] [-6.84406960e-02 -2.66124699e-03 9.97651637e-01 -4.41087806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.857719421 meters 0.06254021843710249 Centerline is valid? [True, True] Translation: X:42.78, Y:-3.29, Z:-4.41 [[ 9.78068462e-01 1.96561245e-01 6.88894824e-02 4.27844938e+01] [-1.96290375e-01 9.80486923e-01 -1.07462604e-02 -3.28861643e+00] [-6.96575350e-02 -3.01176395e-03 9.97566417e-01 -4.40941042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.887719421 meters 0.06813629409970233 Centerline is valid? [True, True] Translation: X:42.81, Y:-3.29, Z:-4.42 [[ 9.77110193e-01 2.01113559e-01 6.93470099e-02 4.28145764e+01] [-2.00849877e-01 9.79562206e-01 -1.08264069e-02 -3.28736069e+00] [-7.01070473e-02 -3.34974585e-03 9.97533850e-01 -4.41718966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.917719421 meters 0.06564854231252057 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.30, Z:-4.42 [[ 9.76901229e-01 2.01951660e-01 6.98535294e-02 4.28456276e+01] [-2.01686955e-01 9.79389433e-01 -1.08954728e-02 -3.30044829e+00] [-7.06141674e-02 -3.44474486e-03 9.97497756e-01 -4.41725367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.947719421 meters 0.06558683948063153 Centerline is valid? [True, True] Translation: X:42.87, Y:-3.32, Z:-4.42 [[ 9.77363728e-01 2.00159360e-01 6.85300921e-02 4.28741215e+01] [-1.99898616e-01 9.79758031e-01 -1.07118535e-02 -3.31622608e+00] [-6.92869859e-02 -3.22969350e-03 9.97591541e-01 -4.42419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.977719420999996 meters 0.06233880000575601 Centerline is valid? [True, True] Translation: X:42.90, Y:-3.34, Z:-4.43 [[ 9.78371055e-01 1.95628024e-01 6.72291261e-02 4.29024758e+01] [-1.95364655e-01 9.80674095e-01 -1.05343092e-02 -3.33649078e+00] [-6.79906685e-02 -2.82773177e-03 9.97681950e-01 -4.42851874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.007719421 meters 0.061310076527302554 Centerline is valid? [True, True] Translation: X:42.93, Y:-3.35, Z:-4.43 [[ 9.78637862e-01 1.93866837e-01 6.84367156e-02 4.29323764e+01] [-1.93589412e-01 9.81023996e-01 -1.07265638e-02 -3.34688931e+00] [-6.92175852e-02 -2.75120204e-03 9.97597793e-01 -4.43086809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.037719421 meters 0.06034462292589146 Centerline is valid? [True, True] Translation: X:42.96, Y:-3.36, Z:-4.43 [[ 9.79290165e-01 1.90370686e-01 6.89186035e-02 4.29610675e+01] [-1.90080438e-01 9.81709051e-01 -1.08058130e-02 -3.36049937e+00] [-6.97151269e-02 -2.51805199e-03 9.97563763e-01 -4.43320973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.067719421 meters 0.059484193333800436 Centerline is valid? [True, True] Translation: X:42.99, Y:-3.37, Z:-4.43 [[ 9.79366167e-01 1.89370146e-01 7.05751948e-02 4.29924543e+01] [-1.89063251e-01 9.81902573e-01 -1.10645478e-02 -3.37086440e+00] [-7.13932604e-02 -2.50693200e-03 9.97445095e-01 -4.43447647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.097719421 meters 0.05970008727902177 Centerline is valid? [True, True] Translation: X:43.02, Y:-3.38, Z:-4.44 [[ 9.79317841e-01 1.89190158e-01 7.17192416e-02 4.30222297e+01] [-1.88872531e-01 9.81937205e-01 -1.12468404e-02 -3.38134459e+00] [-7.25515831e-02 -2.53156327e-03 9.97361449e-01 -4.43924500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.127719421 meters 0.059334899087390404 Centerline is valid? [True, True] Translation: X:43.05, Y:-3.39, Z:-4.45 [[ 9.79622551e-01 1.88504898e-01 6.93221582e-02 4.30526304e+01] [-1.88205242e-01 9.82069364e-01 -1.08880886e-02 -3.39369119e+00] [-7.01316258e-02 -2.38057645e-03 9.97534906e-01 -4.44549025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.157719420999996 meters 0.059598985136473714 Centerline is valid? [True, True] Translation: X:43.08, Y:-3.40, Z:-4.45 [[ 9.80079193e-01 1.86468104e-01 6.83697416e-02 4.30820367e+01] [-1.86170267e-01 9.82458588e-01 -1.07589259e-02 -3.40123530e+00] [-6.91766363e-02 -2.18381362e-03 9.97602037e-01 -4.45252980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.187719421 meters 0.05597897756101628 Centerline is valid? [True, True] Translation: X:43.11, Y:-3.42, Z:-4.45 [[ 9.81210305e-01 1.80121628e-01 6.91558825e-02 4.31096610e+01] [-1.79799206e-01 9.83642827e-01 -1.09103331e-02 -3.42167652e+00] [-6.99898747e-02 -1.72884147e-03 9.97546204e-01 -4.45258631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.217719421 meters 0.05471409996758039 Centerline is valid? [True, True] Translation: X:43.14, Y:-3.43, Z:-4.45 [[ 9.81837201e-01 1.75993704e-01 7.08655571e-02 4.31388755e+01] [-1.75644667e-01 9.84390189e-01 -1.11761993e-02 -3.43245730e+00] [-7.17262999e-02 -1.47394892e-03 9.97423263e-01 -4.45414146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.247719421 meters 0.053459225732777504 Centerline is valid? [True, True] Translation: X:43.17, Y:-3.45, Z:-4.46 [[ 9.82752821e-01 1.70176057e-01 7.23671296e-02 4.31676323e+01] [-1.69795415e-01 9.85413105e-01 -1.14249917e-02 -3.44829429e+00] [-7.32557779e-02 -1.05966392e-03 9.97312623e-01 -4.45532650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.277719421 meters 0.053352982445665526 Centerline is valid? [True, True] Translation: X:43.20, Y:-3.46, Z:-4.46 [[ 9.82646301e-01 1.70921047e-01 7.20572137e-02 4.31985474e+01] [-1.70545980e-01 9.85284098e-01 -1.13716916e-02 -3.45733612e+00] [-7.29404883e-02 -1.11471745e-03 9.97335672e-01 -4.45657226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.307719421 meters 0.05444635631910825 Centerline is valid? [True, True] Translation: X:43.23, Y:-3.46, Z:-4.46 [[ 9.81734749e-01 1.75834044e-01 7.26585908e-02 4.32287996e+01] [-1.75464196e-01 9.84418731e-01 -1.14924911e-02 -3.46224155e+00] [-7.35472489e-02 -1.46640340e-03 9.97290656e-01 -4.45917734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.337719420999996 meters 0.05470264010562494 Centerline is valid? [True, True] Translation: X:43.26, Y:-3.47, Z:-4.46 [[ 9.81129797e-01 1.79299267e-01 7.23608579e-02 4.32606999e+01] [-1.78941398e-01 9.83793087e-01 -1.14515163e-02 -3.46576448e+00] [-7.32413603e-02 -1.71292921e-03 9.97312774e-01 -4.46100665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.367719421 meters 0.05723737924689649 Centerline is valid? [True, True] Translation: X:43.29, Y:-3.46, Z:-4.46 [[ 9.79654243e-01 1.86792858e-01 7.33893178e-02 4.32907861e+01] [-1.86443572e-01 9.82396683e-01 -1.16426653e-02 -3.46404566e+00] [-7.42721891e-02 -2.27718007e-03 9.97235407e-01 -4.46441472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.397719421 meters 0.05798076188067694 Centerline is valid? [True, True] Translation: X:43.32, Y:-3.47, Z:-4.47 [[ 9.78872486e-01 1.90724658e-01 7.37072657e-02 4.33228150e+01] [-1.90382843e-01 9.81640186e-01 -1.17011788e-02 -3.46922714e+00] [-7.45857173e-02 -2.57863680e-03 9.97211272e-01 -4.46574135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.427719421 meters 0.06379940480033962 Centerline is valid? [True, True] Translation: X:43.35, Y:-3.47, Z:-4.47 [[ 9.77492031e-01 1.97952156e-01 7.29676124e-02 4.33531139e+01] [-1.97636640e-01 9.80206812e-01 -1.15915903e-02 -3.46580129e+00] [-7.38179310e-02 -3.09038657e-03 9.97266946e-01 -4.47301583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.457719421 meters 0.06468320893714354 Centerline is valid? [True, True] Translation: X:43.38, Y:-3.47, Z:-4.48 [[ 9.77167456e-01 1.99966591e-01 7.18131278e-02 4.33842552e+01] [-1.99666711e-01 9.79797507e-01 -1.14039762e-02 -3.47060733e+00] [-7.26427378e-02 -3.19509659e-03 9.97352908e-01 -4.47744938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.487719421 meters 0.06668526205743044 Centerline is valid? [True, True] Translation: X:43.41, Y:-3.48, Z:-4.48 [[ 9.76888107e-01 2.01599188e-01 7.10450074e-02 4.34144116e+01] [-2.01308670e-01 9.79462670e-01 -1.13003486e-02 -3.47620838e+00] [-7.18640737e-02 -3.26279972e-03 9.97409098e-01 -4.48258788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.517719420999995 meters 0.0673250711696301 Centerline is valid? [True, True] Translation: X:43.45, Y:-3.48, Z:-4.49 [[ 9.76711792e-01 2.02160824e-01 7.18684618e-02 4.34459161e+01] [-2.01863685e-01 9.79346696e-01 -1.14499937e-02 -3.48385314e+00] [-7.26988808e-02 -3.32428867e-03 9.97348395e-01 -4.48511563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.547719421 meters 0.06695582939138678 Centerline is valid? [True, True] Translation: X:43.48, Y:-3.49, Z:-4.49 [[ 9.76851084e-01 2.01362552e-01 7.22155334e-02 4.34758678e+01] [-2.01058880e-01 9.79511352e-01 -1.15255038e-02 -3.49382553e+00] [-7.30567397e-02 -3.26087341e-03 9.97322455e-01 -4.48835177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.577719421 meters 0.06328890036272138 Centerline is valid? [True, True] Translation: X:43.51, Y:-3.51, Z:-4.49 [[ 9.77034205e-01 2.00465027e-01 7.22352700e-02 4.35062806e+01] [-2.00157504e-01 9.79695704e-01 -1.15455853e-02 -3.50632394e+00] [-7.30830698e-02 -3.17799958e-03 9.97320794e-01 -4.48863376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.607719421 meters 0.06331494056934728 Centerline is valid? [True, True] Translation: X:43.54, Y:-3.51, Z:-4.49 [[ 9.77147003e-01 2.00193894e-01 7.14572559e-02 4.35376494e+01] [-1.99890805e-01 9.79751381e-01 -1.14410092e-02 -3.51387266e+00] [-7.23007654e-02 -3.10410059e-03 9.97378045e-01 -4.49293195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.637719421 meters 0.06379618945864751 Centerline is valid? [True, True] Translation: X:43.57, Y:-3.52, Z:-4.50 [[ 9.77095479e-01 2.00752231e-01 7.05901286e-02 4.35690100e+01] [-2.00456331e-01 9.79637189e-01 -1.13241952e-02 -3.52123362e+00] [-7.14260726e-02 -3.08541821e-03 9.97441124e-01 -4.49646326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.667719421 meters 0.06405043490653309 Centerline is valid? [True, True] Translation: X:43.60, Y:-3.53, Z:-4.50 [[ 9.76929593e-01 2.01565754e-01 7.05678238e-02 4.36001043e+01] [-2.01270730e-01 9.79470002e-01 -1.13405448e-02 -3.52960140e+00] [-7.14049320e-02 -3.12432354e-03 9.97442517e-01 -4.49964594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.697719421 meters 0.06483277229696766 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.53, Z:-4.51 [[ 9.76919940e-01 2.01716774e-01 7.02692970e-02 4.36317523e+01] [-2.01423254e-01 9.79438979e-01 -1.13118825e-02 -3.53384066e+00] [-7.11062850e-02 -3.10306691e-03 9.97463918e-01 -4.50560884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.727719420999996 meters 0.06420742451713375 Centerline is valid? [True, True] Translation: X:43.66, Y:-3.54, Z:-4.51 [[ 9.76915642e-01 2.01665028e-01 7.04772686e-02 4.36630669e+01] [-2.01368056e-01 9.79449686e-01 -1.13674226e-02 -3.54173785e+00] [-7.13213502e-02 -3.08685764e-03 9.97448613e-01 -4.50843902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.757719421 meters 0.06801593172687197 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.54, Z:-4.52 [[ 9.77355201e-01 2.00420300e-01 6.78860426e-02 4.36927284e+01] [-2.00140476e-01 9.79705815e-01 -1.09683712e-02 -3.54399227e+00] [-6.87066349e-02 -2.86675022e-03 9.97632788e-01 -4.52042442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.787719421 meters 0.06326480794372864 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.56, Z:-4.52 [[ 9.77506165e-01 2.00384097e-01 6.57868586e-02 4.37232777e+01] [-2.00120212e-01 9.79713527e-01 -1.06445130e-02 -3.56057080e+00] [-6.65852664e-02 -2.76020302e-03 9.97776921e-01 -4.51841188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.817719421 meters 0.06385968359818282 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.57, Z:-4.52 [[ 9.77342422e-01 2.00105209e-01 6.89905502e-02 4.37526933e+01] [-1.99812206e-01 9.79770282e-01 -1.11927175e-02 -3.56777293e+00] [-6.98346119e-02 -2.84603644e-03 9.97554523e-01 -4.52010118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.847719421 meters 0.06327782561903555 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.58, Z:-4.52 [[ 9.77004003e-01 2.00686014e-01 7.20298703e-02 4.37840027e+01] [-2.00368623e-01 9.79650956e-01 -1.16798543e-02 -3.57535097e+00] [-7.29081147e-02 -3.02126155e-03 9.97334086e-01 -4.51904348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.877719421 meters 0.0641119707895632 Centerline is valid? [True, True] Translation: X:43.81, Y:-3.58, Z:-4.52 [[ 9.76629142e-01 2.00825780e-01 7.65801918e-02 4.38144485e+01] [-2.00465127e-01 9.79621762e-01 -1.24473460e-02 -3.57930506e+00] [-7.75193704e-02 -3.19521699e-03 9.96985726e-01 -4.51736799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.907719420999996 meters 0.06215248254989273 Centerline is valid? [True, True] Translation: X:43.85, Y:-3.59, Z:-4.52 [[ 9.76589481e-01 2.00863456e-01 7.69860921e-02 4.38454557e+01] [-2.00499458e-01 9.79613957e-01 -1.25085336e-02 -3.58847920e+00] [-7.79291576e-02 -3.21996736e-03 9.96953699e-01 -4.51731403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.937719421 meters 0.06055845825394406 Centerline is valid? [True, True] Translation: X:43.87, Y:-3.60, Z:-4.52 [[ 9.77701046e-01 1.94878526e-01 7.82497593e-02 4.38739219e+01] [-1.94481024e-01 9.80823504e-01 -1.27430219e-02 -3.59759136e+00] [-7.92325444e-02 -2.75922752e-03 9.96852341e-01 -4.52141046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.967719421 meters 0.06055845825394406 Centerline is valid? [True, True] Translation: X:43.91, Y:-3.60, Z:-4.52 [[ 9.77642368e-01 1.95172228e-01 7.82508949e-02 4.39057924e+01] [-1.94776220e-01 9.80765016e-01 -1.27360551e-02 -3.60305976e+00] [-7.92314644e-02 -2.79010644e-03 9.96852341e-01 -4.52473903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.997719421 meters 0.05792369387770978 Centerline is valid? [True, True] Translation: X:43.94, Y:-3.62, Z:-4.53 [[ 9.78535901e-01 1.90847687e-01 7.77473527e-02 4.39358792e+01] [-1.90440785e-01 9.81616741e-01 -1.26838953e-02 -3.61621391e+00] [-7.87387951e-02 -2.39461995e-03 9.96892405e-01 -4.52712210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.027719421 meters 0.05332015956110087 Centerline is valid? [True, True] Translation: X:43.96, Y:-3.64, Z:-4.53 [[ 9.80500396e-01 1.81299937e-01 7.58241781e-02 4.39639489e+01] [-1.80883982e-01 9.83426577e-01 -1.23754843e-02 -3.63832540e+00] [-7.68111865e-02 -1.58121199e-03 9.97044403e-01 -4.52743495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.057719421 meters 0.05307854367776792 Centerline is valid? [True, True] Translation: X:44.00, Y:-3.65, Z:-4.53 [[ 9.80720686e-01 1.79935759e-01 7.62237457e-02 4.39953109e+01] [-1.79511708e-01 9.83677239e-01 -1.24352961e-02 -3.64555733e+00] [-7.72171181e-02 -1.48750269e-03 9.97013191e-01 -4.53095581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.087719420999996 meters 0.05403304242116013 Centerline is valid? [True, True] Translation: X:44.03, Y:-3.64, Z:-4.53 [[ 9.79970372e-01 1.84163832e-01 7.57743544e-02 4.40267787e+01] [-1.83755545e-01 9.82893937e-01 -1.23857735e-02 -3.64349039e+00] [-7.67591651e-02 -1.78626670e-03 9.97048063e-01 -4.53400264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.117719421 meters 0.055504912203842974 Centerline is valid? [True, True] Translation: X:44.06, Y:-3.64, Z:-4.54 [[ 9.79281293e-01 1.88548430e-01 7.38758363e-02 4.40584094e+01] [-1.88170793e-01 9.82061754e-01 -1.21022547e-02 -3.64158603e+00] [-7.48324945e-02 -2.04976306e-03 9.97194011e-01 -4.53930430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.147719421 meters 0.05979161384347569 Centerline is valid? [True, True] Translation: X:44.09, Y:-3.63, Z:-4.55 [[ 9.77542988e-01 1.98350315e-01 7.11818727e-02 4.40896596e+01] [-1.98025414e-01 9.80127489e-01 -1.16636622e-02 -3.63278814e+00] [-7.20808012e-02 -2.69408862e-03 9.97395157e-01 -4.54726481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.177719421 meters 0.061848658898766326 Centerline is valid? [True, True] Translation: X:44.12, Y:-3.63, Z:-4.55 [[ 9.76639779e-01 2.02935227e-01 7.06543344e-02 4.41211320e+01] [-2.02626812e-01 9.79187550e-01 -1.15809307e-02 -3.63404568e+00] [-7.15340234e-02 -3.00606489e-03 9.97433630e-01 -4.55100582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.207719421 meters 0.06503949287159577 Centerline is valid? [True, True] Translation: X:44.15, Y:-3.63, Z:-4.56 [[ 9.75648079e-01 2.08444376e-01 6.82771380e-02 4.41507742e+01] [-2.08169485e-01 9.78028690e-01 -1.11958733e-02 -3.63334046e+00] [-6.91107166e-02 -3.28998438e-03 9.97603571e-01 -4.55643105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.237719421 meters 0.06630980865511754 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.64, Z:-4.56 [[ 9.75405218e-01 2.10098779e-01 6.66570630e-02 4.41820261e+01] [-2.09841030e-01 9.77674487e-01 -1.09242793e-02 -3.63660977e+00] [-6.74640876e-02 -3.33178779e-03 9.97716140e-01 -4.56192077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.267719420999995 meters 0.07568317589577465 Centerline is valid? [True, True] Translation: X:44.21, Y:-3.63, Z:-4.58 [[ 9.75161241e-01 2.11356575e-01 6.62491635e-02 4.42132443e+01] [-2.11104048e-01 9.77403158e-01 -1.08695431e-02 -3.62828807e+00] [-6.70494911e-02 -3.38590942e-03 9.97743906e-01 -4.57590057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.297719421 meters 0.06785302189228236 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.65, Z:-4.57 [[ 9.75053842e-01 2.11799332e-01 6.64157157e-02 4.42440080e+01] [-2.11547038e-01 9.77307149e-01 -1.08897265e-02 -3.64994460e+00] [-6.72149906e-02 -3.43197830e-03 9.97732613e-01 -4.56977115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.327719421 meters 0.06632881100600371 Centerline is valid? [True, True] Translation: X:44.27, Y:-3.66, Z:-4.57 [[ 9.75610386e-01 2.08726998e-01 6.79515644e-02 4.42724454e+01] [-2.08453132e-01 9.77968507e-01 -1.11754665e-02 -3.66287803e+00] [-6.87871115e-02 -3.26181526e-03 9.97626029e-01 -4.57171382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.357719421 meters 0.06489684075044329 Centerline is valid? [True, True] Translation: X:44.30, Y:-3.67, Z:-4.57 [[ 9.76058903e-01 2.05905941e-01 7.00839576e-02 4.43019164e+01] [-2.05607406e-01 9.78566685e-01 -1.15255437e-02 -3.67238163e+00] [-7.09550040e-02 -3.16017112e-03 9.97474511e-01 -4.57350751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.387719421 meters 0.06143598326275392 Centerline is valid? [True, True] Translation: X:44.33, Y:-3.69, Z:-4.57 [[ 9.76937698e-01 2.00565433e-01 7.32546278e-02 4.43306051e+01] [-2.00224153e-01 9.79676027e-01 -1.20487099e-02 -3.68632304e+00] [-7.41823574e-02 -2.89650686e-03 9.97240487e-01 -4.57166736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.417719421 meters 0.05999355660843361 Centerline is valid? [True, True] Translation: X:44.36, Y:-3.70, Z:-4.57 [[ 9.77267456e-01 1.97528029e-01 7.70129692e-02 4.43593612e+01] [-1.97141250e-01 9.80293236e-01 -1.26688205e-02 -3.69523104e+00] [-7.79977399e-02 -2.80160707e-03 9.96949599e-01 -4.57043066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.447719421 meters 0.059755896783382965 Centerline is valid? [True, True] Translation: X:44.39, Y:-3.70, Z:-4.57 [[ 9.77544355e-01 1.95847572e-01 7.77866502e-02 4.43898753e+01] [-1.95448312e-01 9.80630626e-01 -1.27879577e-02 -3.70196667e+00] [-7.87844620e-02 -2.70247362e-03 9.96888010e-01 -4.57247456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.477719420999996 meters 0.05812432933997197 Centerline is valid? [True, True] Translation: X:44.42, Y:-3.71, Z:-4.57 [[ 9.77838429e-01 1.93987804e-01 7.87447700e-02 4.44216149e+01] [-1.93570673e-01 9.81000600e-01 -1.29698676e-02 -3.71112997e+00] [-7.97646628e-02 -2.56024314e-03 9.96810435e-01 -4.57305067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.507719421 meters 0.05708195276178972 Centerline is valid? [True, True] Translation: X:44.45, Y:-3.72, Z:-4.58 [[ 9.78656716e-01 1.90762799e-01 7.64237299e-02 4.44526670e+01] [-1.90359863e-01 9.81633638e-01 -1.25906227e-02 -3.71722029e+00] [-7.74219264e-02 -2.22611327e-03 9.96995933e-01 -4.58016646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.537719421 meters 0.05667240615466669 Centerline is valid? [True, True] Translation: X:44.48, Y:-3.72, Z:-4.59 [[ 9.79229826e-01 1.88901416e-01 7.36559721e-02 4.44834214e+01] [-1.88520409e-01 9.81994053e-01 -1.21546083e-02 -3.72306719e+00] [-7.46257494e-02 -1.98349903e-03 9.97209639e-01 -4.58698219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.567719421 meters 0.05426041983075814 Centerline is valid? [True, True] Translation: X:44.51, Y:-3.74, Z:-4.59 [[ 9.80491038e-01 1.83380011e-01 7.07749621e-02 4.45139881e+01] [-1.83012569e-01 9.83040981e-01 -1.16973823e-02 -3.73507345e+00] [-7.17197543e-02 -1.48352917e-03 9.97423719e-01 -4.58947563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.597719421 meters 0.05367615287520786 Centerline is valid? [True, True] Translation: X:44.54, Y:-3.74, Z:-4.59 [[ 9.81270327e-01 1.78901925e-01 7.14328071e-02 4.45438167e+01] [-1.78513745e-01 9.83866252e-01 -1.18338627e-02 -3.74086512e+00] [-7.23974290e-02 -1.13951954e-03 9.97375212e-01 -4.59333452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.627719421 meters 0.05306877872925071 Centerline is valid? [True, True] Translation: X:44.58, Y:-3.75, Z:-4.59 [[ 9.81382801e-01 1.77947642e-01 7.22664208e-02 4.45751236e+01] [-1.77547445e-01 9.84039367e-01 -1.19761792e-02 -3.74800454e+00] [-7.32441358e-02 -1.07750206e-03 9.97313459e-01 -4.59314266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.657719420999996 meters 0.05294903992147162 Centerline is valid? [True, True] Translation: X:44.61, Y:-3.75, Z:-4.60 [[ 9.81185852e-01 1.78646614e-01 7.32100469e-02 4.46070733e+01] [-1.78236124e-01 9.83912663e-01 -1.21554767e-02 -3.75181713e+00] [-7.42038270e-02 -1.12189324e-03 9.97242465e-01 -4.59512026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.687719421 meters 0.053362724324048386 Centerline is valid? [True, True] Translation: X:44.64, Y:-3.76, Z:-4.60 [[ 9.80971443e-01 1.80226448e-01 7.22042620e-02 4.46388847e+01] [-1.79829853e-01 9.83624410e-01 -1.20101449e-02 -3.75527821e+00] [-7.31864204e-02 -1.20287263e-03 9.97317553e-01 -4.59932516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.717719421 meters 0.05405145695531141 Centerline is valid? [True, True] Translation: X:44.67, Y:-3.76, Z:-4.60 [[ 9.80374388e-01 1.82682301e-01 7.41163684e-02 4.46701816e+01] [-1.82269599e-01 9.83171002e-01 -1.23521195e-02 -3.75641117e+00] [-7.51255777e-02 -1.39945913e-03 9.97173099e-01 -4.60356735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.747719421 meters 0.05563362423269364 Centerline is valid? [True, True] Translation: X:44.70, Y:-3.75, Z:-4.60 [[ 9.78748873e-01 1.89457263e-01 7.84639363e-02 4.47021682e+01] [-1.89014466e-01 9.81886913e-01 -1.31004337e-02 -3.75415051e+00] [-7.95246845e-02 -2.00878435e-03 9.96830873e-01 -4.60295285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.777719421 meters 0.0584145906996561 Centerline is valid? [True, True] Translation: X:44.73, Y:-3.75, Z:-4.61 [[ 9.77622754e-01 1.95652917e-01 7.72896303e-02 4.47321163e+01] [-1.95240647e-01 9.80670144e-01 -1.29289687e-02 -3.75272887e+00] [-7.83252234e-02 -2.45042341e-03 9.96924849e-01 -4.60801148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.807719421 meters 0.059975047194408763 Centerline is valid? [True, True] Translation: X:44.76, Y:-3.75, Z:-4.61 [[ 9.77128506e-01 1.98527176e-01 7.62026488e-02 4.47639666e+01] [-1.98134667e-01 9.80091836e-01 -1.27532703e-02 -3.75433490e+00] [-7.72174648e-02 -2.63680252e-03 9.97010788e-01 -4.61275225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.837719420999996 meters 0.063309139915214 Centerline is valid? [True, True] Translation: X:44.80, Y:-3.75, Z:-4.62 [[ 9.75793881e-01 2.05109421e-01 7.58711276e-02 4.47953614e+01] [-2.04739542e-01 9.78734025e-01 -1.27054571e-02 -3.75058748e+00] [-7.68636631e-02 -3.13591257e-03 9.97036681e-01 -4.61665758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.867719421 meters 0.06401406842990638 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.75, Z:-4.62 [[ 9.75058436e-01 2.08502772e-01 7.60765432e-02 4.48267881e+01] [-2.08141591e-01 9.78015804e-01 -1.27344320e-02 -3.75292580e+00] [-7.70592259e-02 -3.41787747e-03 9.97020659e-01 -4.61946849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.897719421 meters 0.0678513391477817 Centerline is valid? [True, True] Translation: X:44.86, Y:-3.75, Z:-4.62 [[ 9.73891870e-01 2.14354872e-01 7.47436585e-02 4.48574185e+01] [-2.14021446e-01 9.76748507e-01 -1.25369184e-02 -3.74646332e+00] [-7.56931064e-02 -3.78714296e-03 9.97123970e-01 -4.62472373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.927719421 meters 0.0698227591331445 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.75, Z:-4.63 [[ 9.73388731e-01 2.16964354e-01 7.37621050e-02 4.48887882e+01] [-2.16646992e-01 9.76171592e-01 -1.23735420e-02 -3.74619410e+00] [-7.46890890e-02 -3.93607183e-03 9.97199101e-01 -4.62902664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.957719421 meters 0.0717075380196255 Centerline is valid? [True, True] Translation: X:44.92, Y:-3.75, Z:-4.63 [[ 9.72912457e-01 2.19674804e-01 7.20022985e-02 4.49195134e+01] [-2.19379598e-01 9.75564781e-01 -1.20809727e-02 -3.74665383e+00] [-7.28967919e-02 -4.04210652e-03 9.97331299e-01 -4.63442728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.987719421 meters 0.06847961098415316 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.75, Z:-4.63 [[ 9.72346330e-01 2.22474537e-01 7.10471262e-02 4.49498412e+01] [-2.22194276e-01 9.74929490e-01 -1.19244518e-02 -3.75439807e+00] [-7.19188255e-02 -4.19156779e-03 9.97401681e-01 -4.63422656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.017719420999995 meters 0.07052422188673788 Centerline is valid? [True, True] Translation: X:44.98, Y:-3.76, Z:-4.64 [[ 9.71811611e-01 2.24826836e-01 7.09583455e-02 4.49809378e+01] [-2.24553652e-01 9.74388971e-01 -1.19075910e-02 -3.75536311e+00] [-7.18181752e-02 -4.36202041e-03 9.97408203e-01 -4.63868470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.047719421 meters 0.07040836791497558 Centerline is valid? [True, True] Translation: X:45.01, Y:-3.76, Z:-4.64 [[ 9.71766795e-01 2.25866289e-01 6.82181472e-02 4.50113521e+01] [-2.25615509e-01 9.74149021e-01 -1.14597628e-02 -3.76124833e+00] [-6.90430154e-02 -4.25485501e-03 9.97604610e-01 -4.64387984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.077719421 meters 0.07165685063698689 Centerline is valid? [True, True] Translation: X:45.04, Y:-3.77, Z:-4.65 [[ 9.71981036e-01 2.25973555e-01 6.47210792e-02 4.50418430e+01] [-2.25748126e-01 9.74125043e-01 -1.08712892e-02 -3.76563073e+00] [-6.55030479e-02 -4.04397542e-03 9.97844175e-01 -4.65193591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.107719421 meters 0.07159691805661733 Centerline is valid? [True, True] Translation: X:45.07, Y:-3.77, Z:-4.66 [[ 9.72263148e-01 2.24395149e-01 6.59635398e-02 4.50720539e+01] [-2.24156487e-01 9.74490026e-01 -1.10931516e-02 -3.77133102e+00] [-6.67700610e-02 -4.00069280e-03 9.97760369e-01 -4.65592730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.137719421 meters 0.06788919806415838 Centerline is valid? [True, True] Translation: X:45.10, Y:-3.79, Z:-4.66 [[ 9.73736332e-01 2.16969921e-01 6.90044145e-02 4.51006331e+01] [-2.16689883e-01 9.76171470e-01 -1.16084614e-02 -3.78644227e+00] [-6.98788276e-02 -3.64897792e-03 9.97548813e-01 -4.65637492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.167719421 meters 0.06318547870641393 Centerline is valid? [True, True] Translation: X:45.13, Y:-3.81, Z:-4.66 [[ 9.75810952e-01 2.06868228e-01 7.07002260e-02 4.51273788e+01] [-2.06547633e-01 9.78364230e-01 -1.18957499e-02 -3.80906371e+00] [-7.16314248e-02 -2.99496126e-03 9.97426674e-01 -4.65558042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.197719421 meters 0.060777836016695 Centerline is valid? [True, True] Translation: X:45.16, Y:-3.82, Z:-4.66 [[ 9.76742301e-01 2.02269965e-01 7.11430817e-02 4.51559308e+01] [-2.01933181e-01 9.79326150e-01 -1.19700575e-02 -3.82306558e+00] [-7.20934634e-02 -2.67448730e-03 9.97394295e-01 -4.65604523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.227719420999996 meters 0.05729869805078779 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.84, Z:-4.66 [[ 9.78590536e-01 1.93374727e-01 7.04753685e-02 4.51843877e+01] [-1.93021218e-01 9.81122936e-01 -1.18572325e-02 -3.84133072e+00] [-7.14378896e-02 -1.99986594e-03 9.97443045e-01 -4.65933863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.257719421 meters 0.05661271862826177 Centerline is valid? [True, True] Translation: X:45.22, Y:-3.85, Z:-4.66 [[ 9.79036791e-01 1.91253719e-01 7.00640874e-02 4.52152628e+01] [-1.90899422e-01 9.81538906e-01 -1.17807729e-02 -3.84988985e+00] [-7.10237443e-02 -1.84138364e-03 9.97472925e-01 -4.66236408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.287719421 meters 0.05643691678629311 Centerline is valid? [True, True] Translation: X:45.25, Y:-3.86, Z:-4.67 [[ 9.79053611e-01 1.90518052e-01 7.18115442e-02 4.52458825e+01] [-1.90142272e-01 9.81682021e-01 -1.20964927e-02 -3.85598873e+00] [-7.28007021e-02 -1.81129538e-03 9.97344864e-01 -4.66598393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.317719421 meters 0.05569133872458208 Centerline is valid? [True, True] Translation: X:45.28, Y:-3.86, Z:-4.66 [[ 9.78604138e-01 1.91439226e-01 7.53987004e-02 4.52784589e+01] [-1.91025704e-01 9.81502534e-01 -1.27262267e-02 -3.86221798e+00] [-7.64403144e-02 -1.94915169e-03 9.97072254e-01 -4.66317186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.347719421 meters 0.05652781390498543 Centerline is valid? [True, True] Translation: X:45.31, Y:-3.87, Z:-4.67 [[ 9.78430776e-01 1.92150036e-01 7.58391664e-02 4.53103652e+01] [-1.91733574e-01 9.81363495e-01 -1.28034314e-02 -3.86601701e+00] [-7.68859692e-02 -2.01364313e-03 9.97037859e-01 -4.66751573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.377719421 meters 0.05667919584506237 Centerline is valid? [True, True] Translation: X:45.34, Y:-3.87, Z:-4.68 [[ 9.79047093e-01 1.90875408e-01 7.09462394e-02 4.53410018e+01] [-1.90505687e-01 9.81612689e-01 -1.20046445e-02 -3.87300022e+00] [-7.19331203e-02 -1.76254977e-03 9.97407900e-01 -4.67638689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.407719420999996 meters 0.05545246293817004 Centerline is valid? [True, True] Translation: X:45.37, Y:-3.88, Z:-4.68 [[ 9.79765732e-01 1.88417760e-01 6.75119149e-02 4.53717422e+01] [-1.88077324e-01 9.82087815e-01 -1.14212315e-02 -3.88177001e+00] [-6.84545918e-02 -1.50732906e-03 9.97653094e-01 -4.68178251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.437719421 meters 0.055594077374920274 Centerline is valid? [True, True] Translation: X:45.40, Y:-3.89, Z:-4.69 [[ 9.80095208e-01 1.86463171e-01 6.81532759e-02 4.54022759e+01] [-1.86110024e-01 9.82461006e-01 -1.15511939e-02 -3.88653660e+00] [-6.91118083e-02 -1.36273800e-03 9.97607990e-01 -4.68801869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.467719421 meters 0.053908737772190816 Centerline is valid? [True, True] Translation: X:45.43, Y:-3.90, Z:-4.69 [[ 9.80925423e-01 1.81463871e-01 6.96862884e-02 4.54334478e+01] [-1.81080170e-01 9.83397096e-01 -1.18373611e-02 -3.89577016e+00] [-7.06773470e-02 -1.00723652e-03 9.97498721e-01 -4.68693557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.497719421 meters 0.05315740366595972 Centerline is valid? [True, True] Translation: X:45.46, Y:-3.90, Z:-4.69 [[ 9.81305697e-01 1.79024799e-01 7.06346243e-02 4.54648329e+01] [-1.78624446e-01 9.83844198e-01 -1.19958565e-02 -3.90235923e+00] [-7.16410211e-02 -8.45468332e-04 9.97430123e-01 -4.68789904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.527719421 meters 0.05234015294721639 Centerline is valid? [True, True] Translation: X:45.50, Y:-3.91, Z:-4.69 [[ 9.82167217e-01 1.73537768e-01 7.23339483e-02 4.54958275e+01] [-1.73100898e-01 9.84827122e-01 -1.23133527e-02 -3.91063843e+00] [-7.33732659e-02 -4.27300089e-04 9.97304458e-01 -4.68881805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.557719421 meters 0.05209348523589627 Centerline is valid? [True, True] Translation: X:45.53, Y:-3.92, Z:-4.69 [[ 9.82525115e-01 1.71246561e-01 7.29315653e-02 4.55270916e+01] [-1.70796280e-01 9.85228170e-01 -1.24130146e-02 -3.91773393e+00] [-7.39799187e-02 -2.60341503e-04 9.97259697e-01 -4.68989129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.587719420999996 meters 0.05175503064459965 Centerline is valid? [True, True] Translation: X:45.56, Y:-3.92, Z:-4.69 [[ 9.82388927e-01 1.70699040e-01 7.59857410e-02 4.55580466e+01] [-1.70206412e-01 9.85323194e-01 -1.29607038e-02 -3.92042981e+00] [-7.70828927e-02 -2.00808500e-04 9.97024667e-01 -4.69167516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.617719421 meters 0.051475896589750054 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.92, Z:-4.69 [[ 9.82112148e-01 1.71454605e-01 7.78398825e-02 4.55903603e+01] [-1.70939100e-01 9.85191988e-01 -1.32880017e-02 -3.92343067e+00] [-7.89655176e-02 -2.55571631e-04 9.96877315e-01 -4.69225835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.647719421 meters 0.05143460025199136 Centerline is valid? [True, True] Translation: X:45.62, Y:-3.92, Z:-4.69 [[ 9.81265078e-01 1.75647748e-01 7.91625908e-02 4.56232064e+01] [-1.75126191e-01 9.84452911e-01 -1.35382389e-02 -3.92154309e+00] [-8.03098041e-02 -5.78841935e-04 9.96769783e-01 -4.69355388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.677719421 meters 0.051726685891547074 Centerline is valid? [True, True] Translation: X:45.66, Y:-3.92, Z:-4.70 [[ 9.80734011e-01 1.79001950e-01 7.82246857e-02 4.56558091e+01] [-1.78501494e-01 9.83848377e-01 -1.34010340e-02 -3.92172355e+00] [-7.93600413e-02 -8.20373472e-04 9.96845681e-01 -4.69784396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.707719421 meters 0.05343024831754011 Centerline is valid? [True, True] Translation: X:45.69, Y:-3.91, Z:-4.71 [[ 9.79577549e-01 1.86331999e-01 7.55527024e-02 4.56870483e+01] [-1.85884860e-01 9.82485925e-01 -1.29701690e-02 -3.91220066e+00] [-7.66462243e-02 -1.33881712e-03 9.97057453e-01 -4.70525130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.737719421 meters 0.05432238265075124 Centerline is valid? [True, True] Translation: X:45.72, Y:-3.91, Z:-4.71 [[ 9.79048823e-01 1.90007241e-01 7.32164675e-02 4.57196364e+01] [-1.89597027e-01 9.81781436e-01 -1.25768970e-02 -3.91213015e+00] [-7.42722701e-02 -1.56822837e-03 9.97236768e-01 -4.70978526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.767719420999995 meters 0.056993157460203656 Centerline is valid? [True, True] Translation: X:45.75, Y:-3.91, Z:-4.72 [[ 9.78260081e-01 1.95050978e-01 7.04438080e-02 4.57507650e+01] [-1.94683764e-01 9.80791324e-01 -1.21082728e-02 -3.90604324e+00] [-7.14524062e-02 -1.86922571e-03 9.97442259e-01 -4.71964288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.797719421 meters 0.05753335328630837 Centerline is valid? [True, True] Translation: X:45.78, Y:-3.91, Z:-4.72 [[ 9.78104747e-01 1.96211495e-01 6.93696806e-02 4.57821951e+01] [-1.95858794e-01 9.80559698e-01 -1.19168449e-02 -3.90945824e+00] [-7.03593351e-02 -1.93073940e-03 9.97519843e-01 -4.72361396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.827719421 meters 0.057227071012658504 Centerline is valid? [True, True] Translation: X:45.81, Y:-3.92, Z:-4.73 [[ 9.78071185e-01 1.96908402e-01 6.78515894e-02 4.58130375e+01] [-1.96571076e-01 9.80420020e-01 -1.16789325e-02 -3.91582750e+00] [-6.88227366e-02 -1.91483254e-03 9.97627067e-01 -4.72692771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.857719421 meters 0.057227071012658504 Centerline is valid? [True, True] Translation: X:45.84, Y:-3.92, Z:-4.73 [[ 9.78006608e-01 1.97229141e-01 6.78508740e-02 4.58448609e+01] [-1.96892296e-01 9.80355512e-01 -1.16830943e-02 -3.92158086e+00] [-6.88222249e-02 -1.93317097e-03 9.97627067e-01 -4.73025849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.887719421 meters 0.05643725199275149 Centerline is valid? [True, True] Translation: X:45.88, Y:-3.93, Z:-4.73 [[ 9.78474124e-01 1.94775054e-01 6.81987271e-02 4.58761453e+01] [-1.94427075e-01 9.80846386e-01 -1.17677569e-02 -3.92750636e+00] [-6.91845405e-02 -1.74523338e-03 9.97602352e-01 -4.73460043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.917719421 meters 0.05632376313640675 Centerline is valid? [True, True] Translation: X:45.91, Y:-3.93, Z:-4.74 [[ 9.78266970e-01 1.95243405e-01 6.98122307e-02 4.59082677e+01] [-1.94878435e-01 9.80753166e-01 -1.20673890e-02 -3.93060871e+00] [-7.08246445e-02 -1.79977023e-03 9.97487158e-01 -4.73643082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.947719421 meters 0.05676993875845812 Centerline is valid? [True, True] Translation: X:45.94, Y:-3.93, Z:-4.74 [[ 9.77815007e-01 1.97070842e-01 7.09992560e-02 4.59415250e+01] [-1.96696699e-01 9.80387321e-01 -1.22926696e-02 -3.93310001e+00] [-7.20292971e-02 -1.94536246e-03 9.97400620e-01 -4.73919473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.977719420999996 meters 0.05787284511483648 Centerline is valid? [True, True] Translation: X:45.97, Y:-3.93, Z:-4.74 [[ 9.77418080e-01 1.99636501e-01 6.92760070e-02 4.59738223e+01] [-1.99284628e-01 9.79867875e-01 -1.20243089e-02 -3.93447973e+00] [-7.02818247e-02 -2.05286635e-03 9.97525063e-01 -4.74299856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.007719421 meters 0.05789302838862233 Centerline is valid? [True, True] Translation: X:46.01, Y:-3.94, Z:-4.75 [[ 9.77260372e-01 2.00416894e-01 6.92476335e-02 4.60056155e+01] [-2.00067324e-01 9.79708437e-01 -1.20185322e-02 -3.94011346e+00] [-7.02512076e-02 -2.10895343e-03 9.97527102e-01 -4.74577149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.037719421 meters 0.05804061348996763 Centerline is valid? [True, True] Translation: X:46.04, Y:-3.95, Z:-4.75 [[ 9.77147850e-01 2.00394111e-01 7.08821551e-02 4.60363487e+01] [-2.00025951e-01 9.79713046e-01 -1.23274582e-02 -3.94550064e+00] [-7.19145221e-02 -2.13252121e-03 9.97408519e-01 -4.74757960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.067719421 meters 0.057356243278373895 Centerline is valid? [True, True] Translation: X:46.07, Y:-3.95, Z:-4.75 [[ 9.77350374e-01 1.98519540e-01 7.33228387e-02 4.60660793e+01] [-1.98119048e-01 9.80094792e-01 -1.27687478e-02 -3.94998691e+00] [-7.43981783e-02 -2.04711056e-03 9.97226514e-01 -4.74993647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.097719421 meters 0.0563558909484272 Centerline is valid? [True, True] Translation: X:46.10, Y:-3.95, Z:-4.75 [[ 9.77674780e-01 1.96224577e-01 7.51527756e-02 4.60967906e+01] [-1.95796976e-01 9.80557105e-01 -1.30884999e-02 -3.95485138e+00] [-7.62598734e-02 -1.91838997e-03 9.97086130e-01 -4.75182944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.127719421 meters 0.05455628129447475 Centerline is valid? [True, True] Translation: X:46.13, Y:-3.96, Z:-4.75 [[ 9.78211392e-01 1.92175348e-01 7.85563988e-02 4.61266551e+01] [-1.91694718e-01 9.81359181e-01 -1.36855280e-02 -3.96145656e+00] [-7.97220643e-02 -1.67150732e-03 9.96815729e-01 -4.75046219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.157719420999996 meters 0.05354620618522517 Centerline is valid? [True, True] Translation: X:46.16, Y:-3.97, Z:-4.75 [[ 9.78484376e-01 1.90464456e-01 7.93197181e-02 4.61575808e+01] [-1.89969325e-01 9.81692864e-01 -1.38122072e-02 -3.97231090e+00] [-8.04983357e-02 -1.55328439e-03 9.96753533e-01 -4.75125431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.187719421 meters 0.05279014738591021 Centerline is valid? [True, True] Translation: X:46.19, Y:-3.99, Z:-4.76 [[ 9.79642375e-01 1.85450283e-01 7.68700795e-02 4.61858376e+01] [-1.84968143e-01 9.82653051e-01 -1.34077607e-02 -3.98834142e+00] [-7.80230912e-02 -1.08370535e-03 9.96950963e-01 -4.75562822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.217719421 meters 0.05205447852476845 Centerline is valid? [True, True] Translation: X:46.21, Y:-4.00, Z:-4.76 [[ 9.81221668e-01 1.77842195e-01 7.46739028e-02 4.62146244e+01] [-1.77363733e-01 9.84058919e-01 -1.30441738e-02 -4.00214770e+00] [-7.58033245e-02 -4.45216261e-04 9.97122689e-01 -4.76358572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.247719421 meters 0.05207950901516321 Centerline is valid? [True, True] Translation: X:46.24, Y:-4.01, Z:-4.77 [[ 9.82036499e-01 1.73839586e-01 7.33765095e-02 4.62449181e+01] [-1.73365073e-01 9.84773977e-01 -1.28361330e-02 -4.01053984e+00] [-7.44907051e-02 -1.15372788e-04 9.97221701e-01 -4.76925145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.277719421 meters 0.052395774675083315 Centerline is valid? [True, True] Translation: X:46.28, Y:-4.02, Z:-4.77 [[ 9.82692347e-01 1.70563023e-01 7.22772880e-02 4.62756988e+01] [-1.70092276e-01 9.85346757e-01 -1.26643409e-02 -4.01816905e+00] [-7.33782597e-02 1.51342503e-04 9.97304170e-01 -4.77489813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.307719421 meters 0.05344983307396698 Centerline is valid? [True, True] Translation: X:46.31, Y:-4.03, Z:-4.78 [[ 9.83674946e-01 1.65243849e-01 7.12605806e-02 4.63055309e+01] [-1.64770856e-01 9.86252582e-01 -1.25063504e-02 -4.03062238e+00] [-7.23475291e-02 5.60516680e-04 9.97379326e-01 -4.77991610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.337719420999996 meters 0.05407117796356425 Centerline is valid? [True, True] Translation: X:46.34, Y:-4.04, Z:-4.78 [[ 9.83721948e-01 1.64603991e-01 7.20878308e-02 4.63351375e+01] [-1.64116644e-01 9.86359530e-01 -1.26730113e-02 -4.03980515e+00] [-7.31905472e-02 6.35906454e-04 9.97317773e-01 -4.78480932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.367719421 meters 0.0526930935165956 Centerline is valid? [True, True] Translation: X:46.37, Y:-4.05, Z:-4.78 [[ 9.83697789e-01 1.64067486e-01 7.36241819e-02 4.63676296e+01] [-1.63556211e-01 9.86448862e-01 -1.29617945e-02 -4.04573590e+00] [-7.47530995e-02 7.08796365e-04 9.97201821e-01 -4.77599887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.397719421 meters 0.05221378748448095 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.05, Z:-4.78 [[ 9.83343774e-01 1.65151466e-01 7.58947704e-02 4.63996461e+01] [-1.64609439e-01 9.86267988e-01 -1.33861213e-02 -4.05002183e+00] [-7.70633201e-02 6.70163473e-04 9.97025975e-01 -4.77684449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.427719421 meters 0.05166892702305232 Centerline is valid? [True, True] Translation: X:46.43, Y:-4.04, Z:-4.78 [[ 9.82514326e-01 1.68944428e-01 7.82520306e-02 4.64325685e+01] [-1.68378147e-01 9.85625493e-01 -1.38270404e-02 -4.04223299e+00] [-7.94631977e-02 4.09333421e-04 9.96837716e-01 -4.78352466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.457719421 meters 0.05159173981418271 Centerline is valid? [True, True] Translation: X:46.47, Y:-4.02, Z:-4.79 [[ 9.80951987e-01 1.78481948e-01 7.66641589e-02 4.64680722e+01] [-1.77965701e-01 9.83943130e-01 -1.35692888e-02 -4.02435192e+00] [-7.78550456e-02 -3.32770024e-04 9.96964634e-01 -4.78736052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.487719421 meters 0.052089511963225574 Centerline is valid? [True, True] Translation: X:46.50, Y:-4.02, Z:-4.79 [[ 9.80006446e-01 1.83661414e-01 7.65235259e-02 4.65006217e+01] [-1.83161031e-01 9.82989301e-01 -1.35672429e-02 -4.02282252e+00] [-7.77135863e-02 -7.20142454e-04 9.96975466e-01 -4.79090862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.517719420999995 meters 0.05419944851091801 Centerline is valid? [True, True] Translation: X:46.53, Y:-4.01, Z:-4.80 [[ 9.78266164e-01 1.93843104e-01 7.36217647e-02 4.65332537e+01] [-1.93406600e-01 9.81031483e-01 -1.30811220e-02 -4.01445778e+00] [-7.47609543e-02 -1.44211620e-03 9.97200441e-01 -4.79539066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.547719421 meters 0.05600136358688465 Centerline is valid? [True, True] Translation: X:46.56, Y:-4.01, Z:-4.80 [[ 9.77373944e-01 1.98746386e-01 7.23881782e-02 4.65644811e+01] [-1.98337701e-01 9.80049329e-01 -1.28634418e-02 -4.00921591e+00] [-7.35005481e-02 -1.78491201e-03 9.97293579e-01 -4.80055753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.577719421 meters 0.05836927905543679 Centerline is valid? [True, True] Translation: X:46.60, Y:-4.00, Z:-4.81 [[ 9.76336545e-01 2.04208729e-01 7.11740500e-02 4.65959711e+01] [-2.03828012e-01 9.78924992e-01 -1.26491611e-02 -4.00253247e+00] [-7.22571255e-02 -2.15742686e-03 9.97383704e-01 -4.80572323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.607719421 meters 0.062418442428209944 Centerline is valid? [True, True] Translation: X:46.63, Y:-3.99, Z:-4.81 [[ 9.74274994e-01 2.14212464e-01 7.00089801e-02 4.66294457e+01] [-2.13869742e-01 9.76782934e-01 -1.24432209e-02 -3.99019631e+00] [-7.10490700e-02 -2.84968356e-03 9.97468751e-01 -4.80952094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.637719421 meters 0.06683420614827645 Centerline is valid? [True, True] Translation: X:46.66, Y:-3.98, Z:-4.81 [[ 9.72784410e-01 2.20503328e-01 7.11953193e-02 4.66614149e+01] [-2.20165520e-01 9.75380424e-01 -1.26559446e-02 -3.98262810e+00] [-7.22331986e-02 -3.36324894e-03 9.97382100e-01 -4.81311946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.667719421 meters 0.0682881467359612 Centerline is valid? [True, True] Translation: X:46.69, Y:-3.99, Z:-4.82 [[ 9.72313753e-01 2.22442755e-01 7.15904126e-02 4.66923411e+01] [-2.22106674e-01 9.74939361e-01 -1.27227109e-02 -3.98562125e+00] [-7.26263859e-02 -3.53024165e-03 9.97352969e-01 -4.81650881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.697719421 meters 0.06748379188005983 Centerline is valid? [True, True] Translation: X:46.72, Y:-4.00, Z:-4.82 [[ 9.73178373e-01 2.19569508e-01 6.86519123e-02 4.67216950e+01] [-2.19252185e-01 9.75591732e-01 -1.22168746e-02 -3.99857303e+00] [-6.96586911e-02 -3.16288365e-03 9.97565869e-01 -4.82334383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.727719420999996 meters 0.06532593319205819 Centerline is valid? [True, True] Translation: X:46.75, Y:-4.01, Z:-4.83 [[ 9.73653491e-01 2.17733640e-01 6.77564830e-02 4.67523862e+01] [-2.17418847e-01 9.76003698e-01 -1.20758581e-02 -4.01077841e+00] [-6.87598985e-02 -2.97383506e-03 9.97628805e-01 -4.82658287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.757719421 meters 0.06348961062332188 Centerline is valid? [True, True] Translation: X:46.78, Y:-4.02, Z:-4.83 [[ 9.74302385e-01 2.14143002e-01 6.98400876e-02 4.67816084e+01] [-2.13797249e-01 9.76798378e-01 -1.24766068e-02 -4.02025639e+00] [-7.08914623e-02 -2.77563088e-03 9.97480173e-01 -4.82875042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.787719421 meters 0.062383548890521945 Centerline is valid? [True, True] Translation: X:46.81, Y:-4.03, Z:-4.83 [[ 9.74688028e-01 2.12379276e-01 6.98447616e-02 4.68123463e+01] [-2.12029583e-01 9.77183703e-01 -1.24686669e-02 -4.03020326e+00] [-7.08992492e-02 -2.65609529e-03 9.97479945e-01 -4.83243861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.817719421 meters 0.06014722557898062 Centerline is valid? [True, True] Translation: X:46.84, Y:-4.05, Z:-4.84 [[ 9.75985269e-01 2.07094854e-01 6.75609087e-02 4.68405955e+01] [-2.06753261e-01 9.78318457e-01 -1.20865905e-02 -4.04937638e+00] [-6.85991546e-02 -2.17210393e-03 9.97641939e-01 -4.83864917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.847719421 meters 0.05921672199667907 Centerline is valid? [True, True] Translation: X:46.87, Y:-4.06, Z:-4.84 [[ 9.76723064e-01 2.03512868e-01 6.77832534e-02 4.68691898e+01] [-2.03160027e-01 9.79070386e-01 -1.21318822e-02 -4.06028118e+00] [-6.88335702e-02 -1.92135840e-03 9.97626307e-01 -4.84387249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.877719421 meters 0.055249928088959295 Centerline is valid? [True, True] Translation: X:46.90, Y:-4.08, Z:-4.84 [[ 9.77822382e-01 1.97055602e-01 7.09399699e-02 4.68978208e+01] [-1.96652010e-01 9.80391115e-01 -1.26984016e-02 -4.07706368e+00] [-7.20512073e-02 -1.53370640e-03 9.97399755e-01 -4.84021057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.907719420999996 meters 0.05515482423639234 Centerline is valid? [True, True] Translation: X:46.93, Y:-4.09, Z:-4.85 [[ 9.78408549e-01 1.94029633e-01 7.11983995e-02 4.69279529e+01] [-1.93615567e-01 9.80994778e-01 -1.27380773e-02 -4.08513443e+00] [-7.23168225e-02 -1.32207476e-03 9.97380835e-01 -4.84651395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.937719421 meters 0.05282566957040968 Centerline is valid? [True, True] Translation: X:46.96, Y:-4.10, Z:-4.84 [[ 9.79416492e-01 1.88060162e-01 7.33260619e-02 4.69576071e+01] [-1.87602073e-01 9.82157117e-01 -1.31476021e-02 -4.10389890e+00] [-7.44902537e-02 -8.79142901e-04 9.97221354e-01 -4.84137120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.967719421 meters 0.053523191272772795 Centerline is valid? [True, True] Translation: X:46.99, Y:-4.11, Z:-4.85 [[ 9.79417603e-01 1.87298629e-01 7.52355172e-02 4.69879191e+01] [-1.86814170e-01 9.82302658e-01 -1.34890339e-02 -4.10936962e+00] [-7.64305260e-02 -8.43663440e-04 9.97074552e-01 -4.85018807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.997719421 meters 0.053232330271031685 Centerline is valid? [True, True] Translation: X:47.02, Y:-4.11, Z:-4.85 [[ 9.79137471e-01 1.89275827e-01 7.39220855e-02 4.70202020e+01] [-1.88812099e-01 9.81923491e-01 -1.32758566e-02 -4.11421058e+00] [-7.50986310e-02 -9.58495461e-04 9.97175650e-01 -4.84858467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.027719421 meters 0.054548194658870536 Centerline is valid? [True, True] Translation: X:47.05, Y:-4.11, Z:-4.86 [[ 9.78613637e-01 1.93301072e-01 7.03565594e-02 4.70506651e+01] [-1.92889618e-01 9.81138777e-01 -1.26607593e-02 -4.11151273e+00] [-7.14768870e-02 -1.18105820e-03 9.97441557e-01 -4.85585981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.057719421 meters 0.055134617295470464 Centerline is valid? [True, True] Translation: X:47.08, Y:-4.11, Z:-4.86 [[ 9.77887835e-01 1.97177452e-01 6.96881296e-02 4.70831516e+01] [-1.96783078e-01 9.80366753e-01 -1.25478977e-02 -4.11264554e+00] [-7.07940879e-02 -1.44300814e-03 9.97489907e-01 -4.85846599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.087719420999996 meters 0.05864863453873912 Centerline is valid? [True, True] Translation: X:47.11, Y:-4.10, Z:-4.87 [[ 9.76410936e-01 2.04414563e-01 6.95440230e-02 4.71148937e+01] [-2.04039539e-01 9.78882457e-01 -1.25300853e-02 -4.10382627e+00] [-7.06367560e-02 -1.95521805e-03 9.97500188e-01 -4.86510042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.117719421 meters 0.05882424389200287 Centerline is valid? [True, True] Translation: X:47.15, Y:-4.11, Z:-4.87 [[ 9.75803155e-01 2.07431334e-01 6.91407629e-02 4.71465421e+01] [-2.07068240e-01 9.78247193e-01 -1.24568905e-02 -4.10861033e+00] [-7.02207066e-02 -2.16138297e-03 9.97529138e-01 -4.86581958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.147719421 meters 0.059884091403408155 Centerline is valid? [True, True] Translation: X:47.18, Y:-4.11, Z:-4.87 [[ 9.75000506e-01 2.10579585e-01 7.09242652e-02 4.71780590e+01] [-2.10205801e-01 9.77573648e-01 -1.27782886e-02 -4.11438181e+00] [-7.20245394e-02 -2.44985417e-03 9.97399852e-01 -4.86773483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.177719421 meters 0.05997895421531109 Centerline is valid? [True, True] Translation: X:47.21, Y:-4.12, Z:-4.87 [[ 9.74624842e-01 2.11494374e-01 7.33249420e-02 4.72096806e+01] [-2.11095725e-01 9.77375807e-01 -1.32335173e-02 -4.11977080e+00] [-7.44648388e-02 -2.58086702e-03 9.97220300e-01 -4.86957751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.207719421 meters 0.059422782243684455 Centerline is valid? [True, True] Translation: X:47.24, Y:-4.13, Z:-4.87 [[ 9.74365413e-01 2.11968639e-01 7.53746485e-02 4.72419623e+01] [-2.11546667e-01 9.77272839e-01 -1.36310884e-02 -4.12526479e+00] [-7.65509600e-02 -2.66359454e-03 9.97062112e-01 -4.86991299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.237719421 meters 0.059797640714986784 Centerline is valid? [True, True] Translation: X:47.27, Y:-4.13, Z:-4.87 [[ 9.73871380e-01 2.14016973e-01 7.59688774e-02 4.72741540e+01] [-2.13594266e-01 9.76825803e-01 -1.37419370e-02 -4.12892659e+00] [-7.71493674e-02 -2.84363741e-03 9.97015491e-01 -4.87085518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.267719420999995 meters 0.06161723115208848 Centerline is valid? [True, True] Translation: X:47.30, Y:-4.14, Z:-4.87 [[ 9.73544383e-01 2.15369422e-01 7.63370580e-02 4.73043383e+01] [-2.14944902e-01 9.76528216e-01 -1.38322759e-02 -4.13674154e+00] [-7.75243404e-02 -2.94192696e-03 9.96986119e-01 -4.87486896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.297719421 meters 0.06135652113182888 Centerline is valid? [True, True] Translation: X:47.34, Y:-4.15, Z:-4.88 [[ 9.73621206e-01 2.14789025e-01 7.69897547e-02 4.73350004e+01] [-2.14353724e-01 9.76656166e-01 -1.39719160e-02 -4.14688810e+00] [-7.81935329e-02 -2.89968696e-03 9.96933981e-01 -4.87824265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.327719421 meters 0.05816010711985172 Centerline is valid? [True, True] Translation: X:47.36, Y:-4.16, Z:-4.88 [[ 9.74260972e-01 2.11062805e-01 7.91710233e-02 4.73648291e+01] [-2.10587966e-01 9.77468916e-01 -1.43953634e-02 -4.16351792e+00] [-8.04255401e-02 -2.64762400e-03 9.96757103e-01 -4.87677949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.357719421 meters 0.05864245683007073 Centerline is valid? [True, True] Translation: X:47.39, Y:-4.17, Z:-4.88 [[ 9.74673057e-01 2.08716256e-01 8.03116177e-02 4.73946432e+01] [-2.08218969e-01 9.77973092e-01 -1.46113825e-02 -4.16973155e+00] [-8.15922341e-02 -2.48108139e-03 9.96662707e-01 -4.88151186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.387719421 meters 0.055870463227937886 Centerline is valid? [True, True] Translation: X:47.42, Y:-4.19, Z:-4.89 [[ 9.75864394e-01 2.03433005e-01 7.93958234e-02 4.74236875e+01] [-2.02929356e-01 9.79086798e-01 -1.44470615e-02 -4.18551982e+00] [-8.06744117e-02 -2.01337046e-03 9.96738474e-01 -4.88674060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.417719421 meters 0.0553631964196774 Centerline is valid? [True, True] Translation: X:47.46, Y:-4.19, Z:-4.89 [[ 9.76462253e-01 2.01424522e-01 7.71338423e-02 4.74552535e+01] [-2.00942861e-01 9.79502397e-01 -1.40364185e-02 -4.19456492e+00] [-7.83800623e-02 -1.79346209e-03 9.96921937e-01 -4.89294218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.447719421 meters 0.054625451268231345 Centerline is valid? [True, True] Translation: X:47.48, Y:-4.21, Z:-4.90 [[ 9.77347234e-01 1.97914611e-01 7.49812779e-02 4.74845481e+01] [-1.97447224e-01 9.80218201e-01 -1.36701451e-02 -4.20619258e+00] [-7.62035347e-02 -1.44436671e-03 9.97091237e-01 -4.89829736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.477719420999996 meters 0.05392755646250082 Centerline is valid? [True, True] Translation: X:47.52, Y:-4.22, Z:-4.90 [[ 9.77752927e-01 1.95886095e-01 7.50190013e-02 4.75153400e+01] [-1.95410786e-01 9.80625836e-01 -1.36965053e-02 -4.21584957e+00] [-7.62485258e-02 -1.26772378e-03 9.97088038e-01 -4.90081555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.507719421 meters 0.053459148007026676 Centerline is valid? [True, True] Translation: X:47.54, Y:-4.23, Z:-4.91 [[ 9.79007735e-01 1.90836926e-01 7.15899576e-02 4.75439308e+01] [-1.90389093e-01 9.81621417e-01 -1.30914785e-02 -4.22644498e+00] [-7.27725731e-02 -8.13288418e-04 9.97348230e-01 -4.90849871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.537719421 meters 0.05361500770667741 Centerline is valid? [True, True] Translation: X:47.57, Y:-4.24, Z:-4.92 [[ 9.80575012e-01 1.84455072e-01 6.67006085e-02 4.75728901e+01] [-1.84050786e-01 9.82840900e-01 -1.22095977e-02 -4.23803560e+00] [-6.78082083e-02 -3.03873019e-04 9.97698328e-01 -4.91891742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.567719421 meters 0.05374059038757101 Centerline is valid? [True, True] Translation: X:47.60, Y:-4.25, Z:-4.92 [[ 9.81395697e-01 1.80500393e-01 6.54377155e-02 4.76029334e+01] [-1.80101432e-01 9.83574912e-01 -1.19944252e-02 -4.24796271e+00] [-6.65278938e-02 -1.41490278e-05 9.97784566e-01 -4.92431155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.597719421 meters 0.05432443138641382 Centerline is valid? [True, True] Translation: X:47.63, Y:-4.26, Z:-4.93 [[ 9.82927977e-01 1.71462256e-01 6.67329538e-02 4.76339607e+01] [-1.71025280e-01 9.85190490e-01 -1.22495907e-02 -4.26285775e+00] [-6.78450139e-02 6.27443224e-04 9.97695675e-01 -4.92502185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.627719421 meters 0.05516427132908197 Centerline is valid? [True, True] Translation: X:47.66, Y:-4.27, Z:-4.93 [[ 9.83539764e-01 1.67043342e-01 6.88916183e-02 4.76634791e+01] [-1.66564994e-01 9.85949059e-01 -1.26710842e-02 -4.27355720e+00] [-7.00402465e-02 9.87583151e-04 9.97543678e-01 -4.92561277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.657719420999996 meters 0.05798754593713252 Centerline is valid? [True, True] Translation: X:47.69, Y:-4.29, Z:-4.92 [[ 9.84827362e-01 1.58004980e-01 7.17599674e-02 4.76934257e+01] [-1.57460087e-01 9.87436811e-01 -1.32236969e-02 -4.28937754e+00] [-7.29478433e-02 1.72372781e-03 9.97334267e-01 -4.92470021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.687719421 meters 0.05969437827457708 Centerline is valid? [True, True] Translation: X:47.72, Y:-4.30, Z:-4.93 [[ 9.85420173e-01 1.54095402e-01 7.21227410e-02 4.77236936e+01] [-1.53534478e-01 9.88053901e-01 -1.32911127e-02 -4.29890420e+00] [-7.33092549e-02 2.02400317e-03 9.97307203e-01 -4.92779078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.717719421 meters 0.06256691546357991 Centerline is valid? [True, True] Translation: X:47.75, Y:-4.30, Z:-4.93 [[ 9.86058797e-01 1.50273815e-01 7.14550846e-02 4.77526064e+01] [-1.49711343e-01 9.88641711e-01 -1.31939615e-02 -4.30441975e+00] [-7.26261841e-02 2.31238515e-03 9.97356551e-01 -4.93317867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.747719421 meters 0.06190799115172281 Centerline is valid? [True, True] Translation: X:47.78, Y:-4.30, Z:-4.94 [[ 9.86031249e-01 1.50916340e-01 7.04743596e-02 4.77847876e+01] [-1.50371461e-01 9.88544033e-01 -1.30045560e-02 -4.30491977e+00] [-7.16296077e-02 2.22556619e-03 9.97428818e-01 -4.93622868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.777719421 meters 0.05692163149640145 Centerline is valid? [True, True] Translation: X:47.82, Y:-4.29, Z:-4.93 [[ 9.85234204e-01 1.56031913e-01 7.04812428e-02 4.78193350e+01] [-1.55498084e-01 9.87750225e-01 -1.30322189e-02 -4.29402167e+00] [-7.16513055e-02 1.88008965e-03 9.97427970e-01 -4.93241178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.807719421 meters 0.05692163149640145 Centerline is valid? [True, True] Translation: X:47.85, Y:-4.30, Z:-4.94 [[ 9.85180626e-01 1.56369345e-01 7.04823601e-02 4.78510735e+01] [-1.55836808e-01 9.87696921e-01 -1.30261885e-02 -4.30017924e+00] [-7.16521066e-02 1.84940253e-03 9.97427970e-01 -4.93574032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.837719420999996 meters 0.05624516602338759 Centerline is valid? [True, True] Translation: X:47.88, Y:-4.30, Z:-4.94 [[ 9.84432162e-01 1.60710031e-01 7.11730515e-02 4.78819783e+01] [-1.60175723e-01 9.87000394e-01 -1.31894186e-02 -4.29962994e+00] [-7.23675017e-02 1.58389285e-03 9.97376777e-01 -4.94035144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.867719421 meters 0.05507042695920633 Centerline is valid? [True, True] Translation: X:47.91, Y:-4.29, Z:-4.95 [[ 9.82950653e-01 1.69449717e-01 7.13779234e-02 4.79149210e+01] [-1.68935218e-01 9.85538381e-01 -1.32284079e-02 -4.28779894e+00] [-7.25872331e-02 9.44627113e-04 9.97361620e-01 -4.94943809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.897719421 meters 0.054361959426152365 Centerline is valid? [True, True] Translation: X:47.95, Y:-4.28, Z:-4.95 [[ 9.82301720e-01 1.73816956e-01 6.97925206e-02 4.79493955e+01] [-1.73336453e-01 9.84777793e-01 -1.29295097e-02 -4.28247551e+00] [-7.09774925e-02 6.03091689e-04 9.97477735e-01 -4.95390116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.927719421 meters 0.05379832132930293 Centerline is valid? [True, True] Translation: X:47.98, Y:-4.26, Z:-4.96 [[ 9.80603089e-01 1.83296310e-01 6.94265476e-02 4.79845953e+01] [-1.82842975e-01 9.83057709e-01 -1.28836118e-02 -4.26499592e+00] [-7.06118214e-02 -6.04469395e-05 9.97503868e-01 -4.95751030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.957719421 meters 0.05307270300353646 Centerline is valid? [True, True] Translation: X:48.02, Y:-4.26, Z:-4.95 [[ 9.79613084e-01 1.88308930e-01 6.99853661e-02 4.80198494e+01] [-1.87859888e-01 9.82109759e-01 -1.30032002e-02 -4.26233594e+00] [-7.11819298e-02 -4.09337999e-04 9.97463265e-01 -4.95161640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.987719421 meters 0.054348859123935105 Centerline is valid? [True, True] Translation: X:48.05, Y:-4.26, Z:-4.96 [[ 9.78396006e-01 1.94871803e-01 6.90379274e-02 4.80521350e+01] [-1.94449375e-01 9.80828353e-01 -1.28523218e-02 -4.25580858e+00] [-7.02189118e-02 -8.49721534e-04 9.97531244e-01 -4.95621605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.017719420999995 meters 0.054799152099897816 Centerline is valid? [True, True] Translation: X:48.08, Y:-4.26, Z:-4.96 [[ 9.78030337e-01 1.96968609e-01 6.82643830e-02 4.80842002e+01] [-1.96559472e-01 9.80409314e-01 -1.27260049e-02 -4.25695081e+00] [-6.94336604e-02 -9.71592175e-04 9.97586098e-01 -4.96009930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.047719421 meters 0.05559198800180232 Centerline is valid? [True, True] Translation: X:48.12, Y:-4.25, Z:-4.96 [[ 9.77218683e-01 2.00976013e-01 6.82076870e-02 4.81172483e+01] [-2.00575862e-01 9.79595384e-01 -1.27360353e-02 -4.25064621e+00] [-6.93755730e-02 -1.23492401e-03 9.97589848e-01 -4.96444289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.077719421 meters 0.0569434197268313 Centerline is valid? [True, True] Translation: X:48.15, Y:-4.25, Z:-4.97 [[ 9.76857732e-01 2.02983807e-01 6.74280694e-02 4.81482892e+01] [-2.02595985e-01 9.79181178e-01 -1.26129848e-02 -4.24886710e+00] [-6.85845281e-02 -1.33956442e-03 9.97644410e-01 -4.97142211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.107719421 meters 0.058835229801991296 Centerline is valid? [True, True] Translation: X:48.18, Y:-4.25, Z:-4.98 [[ 9.76487746e-01 2.05852513e-01 6.40033120e-02 4.81784085e+01] [-2.05508351e-01 9.78581956e-01 -1.19863806e-02 -4.24608274e+00] [-6.50999128e-02 -1.44866130e-03 9.97877699e-01 -4.97957946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.137719421 meters 0.05960665349004345 Centerline is valid? [True, True] Translation: X:48.21, Y:-4.25, Z:-4.98 [[ 9.76219972e-01 2.07381136e-01 6.31476920e-02 4.82102708e+01] [-2.07049993e-01 9.78259011e-01 -1.18155812e-02 -4.25071230e+00] [-6.42251273e-02 -1.54012281e-03 9.97934247e-01 -4.98356935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.167719421 meters 0.05777620479836071 Centerline is valid? [True, True] Translation: X:48.24, Y:-4.26, Z:-4.98 [[ 9.75780380e-01 2.08642434e-01 6.57341977e-02 4.82415963e+01] [-2.08285181e-01 9.77990563e-01 -1.23183831e-02 -4.26077932e+00] [-6.68575624e-02 -1.67142270e-03 9.97761130e-01 -4.97725627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.197719421 meters 0.05888624272507255 Centerline is valid? [True, True] Translation: X:48.27, Y:-4.26, Z:-4.98 [[ 9.74694059e-01 2.12765890e-01 6.85723473e-02 4.82729192e+01] [-2.12385648e-01 9.77101127e-01 -1.28734192e-02 -4.26291338e+00] [-6.97411423e-02 -2.01613725e-03 9.97563085e-01 -4.97684798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.227719420999996 meters 0.05977117417982412 Centerline is valid? [True, True] Translation: X:48.30, Y:-4.26, Z:-4.98 [[ 9.74057815e-01 2.15525486e-01 6.89937520e-02 4.83046461e+01] [-2.15146067e-01 9.76495719e-01 -1.29722813e-02 -4.26484704e+00] [-7.01679607e-02 -2.20798243e-03 9.97532747e-01 -4.97929442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.257719421 meters 0.061560442331151856 Centerline is valid? [True, True] Translation: X:48.34, Y:-4.26, Z:-4.98 [[ 9.73121766e-01 2.19321320e-01 7.02295321e-02 4.83352620e+01] [-2.18935974e-01 9.75649485e-01 -1.32333405e-02 -4.26443514e+00] [-7.14217605e-02 -2.49811928e-03 9.97443077e-01 -4.98235772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.287719421 meters 0.06487980072414803 Centerline is valid? [True, True] Translation: X:48.36, Y:-4.26, Z:-4.99 [[ 9.71934790e-01 2.24567006e-01 7.00886801e-02 4.83644262e+01] [-2.24196698e-01 9.74454405e-01 -1.32080872e-02 -4.26376168e+00] [-7.12643236e-02 -2.87625122e-03 9.97453319e-01 -4.98782335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.317719421 meters 0.06552951665421805 Centerline is valid? [True, True] Translation: X:48.39, Y:-4.27, Z:-4.99 [[ 9.71453062e-01 2.27102248e-01 6.85821913e-02 4.83929550e+01] [-2.26754234e-01 9.73866301e-01 -1.29207195e-02 -4.27479528e+00] [-6.97242094e-02 -2.99942975e-03 9.97561797e-01 -4.99106528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.347719421 meters 0.06683052740096723 Centerline is valid? [True, True] Translation: X:48.42, Y:-4.28, Z:-5.00 [[ 9.71482526e-01 2.27009907e-01 6.84704653e-02 4.84213742e+01] [-2.26662900e-01 9.73887861e-01 -1.28982056e-02 -4.28146060e+00] [-6.96105755e-02 -2.98933291e-03 9.97569763e-01 -4.99590349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.377719421 meters 0.06443630385569388 Centerline is valid? [True, True] Translation: X:48.45, Y:-4.30, Z:-4.99 [[ 9.71668701e-01 2.25069931e-01 7.21350280e-02 4.84500344e+01] [-2.24679642e-01 9.74337974e-01 -1.35856871e-02 -4.29883129e+00] [-7.33416267e-02 -3.00648537e-03 9.97302345e-01 -4.99431408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.407719420999996 meters 0.06318716606120946 Centerline is valid? [True, True] Translation: X:48.48, Y:-4.31, Z:-5.00 [[ 9.71929547e-01 2.23204861e-01 7.43810819e-02 4.84801201e+01] [-2.22784346e-01 9.74767081e-01 -1.40097728e-02 -4.30942311e+00] [-7.56312795e-02 -2.95442860e-03 9.97131476e-01 -4.99574558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.437719421 meters 0.06139473444035007 Centerline is valid? [True, True] Translation: X:48.51, Y:-4.32, Z:-5.00 [[ 9.72750900e-01 2.19004043e-01 7.61112012e-02 4.85086139e+01] [-2.18550554e-01 9.75720257e-01 -1.43399831e-02 -4.32042688e+00] [-7.74037551e-02 -2.68491366e-03 9.96996214e-01 -4.99882516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.467719421 meters 0.06037221702104638 Centerline is valid? [True, True] Translation: X:48.54, Y:-4.33, Z:-5.00 [[ 9.73318297e-01 2.16702517e-01 7.54421057e-02 4.85391971e+01] [-2.16250629e-01 9.76234519e-01 -1.42066930e-02 -4.32988666e+00] [-7.67278139e-02 -2.48676855e-03 9.97048975e-01 -5.00296880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.497719421 meters 0.060444950196135015 Centerline is valid? [True, True] Translation: X:48.57, Y:-4.34, Z:-5.02 [[ 9.74520224e-01 2.13738805e-01 6.80151129e-02 4.85668173e+01] [-2.13363151e-01 9.76888771e-01 -1.28255637e-02 -4.34430486e+00] [-6.91845207e-02 -2.01314758e-03 9.97601849e-01 -5.01595505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.527719421 meters 0.06047918955513142 Centerline is valid? [True, True] Translation: X:48.60, Y:-4.36, Z:-5.02 [[ 9.74934855e-01 2.12618772e-01 6.55384307e-02 4.85958144e+01] [-2.12266376e-01 9.77133485e-01 -1.23749319e-02 -4.35549120e+00] [-6.66709380e-02 -1.84685277e-03 9.97773309e-01 -5.02143069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.557719421 meters 0.059451006243446104 Centerline is valid? [True, True] Translation: X:48.62, Y:-4.37, Z:-5.03 [[ 9.75430535e-01 2.10265783e-01 6.57538733e-02 4.86249220e+01] [-2.09904604e-01 9.77642826e-01 -1.24323274e-02 -4.37019706e+00] [-6.68978955e-02 -1.67516903e-03 9.97758420e-01 -5.02500590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.587719420999996 meters 0.058044175102228576 Centerline is valid? [True, True] Translation: X:48.66, Y:-4.38, Z:-5.03 [[ 9.76122910e-01 2.06720519e-01 6.67134981e-02 4.86550108e+01] [-2.06338635e-01 9.78398993e-01 -1.26402979e-02 -4.38189028e+00] [-6.78854283e-02 -1.42708780e-03 9.97692103e-01 -5.02825418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.617719421 meters 0.05586736540251074 Centerline is valid? [True, True] Translation: X:48.68, Y:-4.39, Z:-5.03 [[ 9.76465725e-01 2.04487913e-01 6.85520315e-02 4.86848074e+01] [-2.04078842e-01 9.78868223e-01 -1.29934219e-02 -4.39468672e+00] [-6.97604030e-02 -1.30238805e-03 9.97562925e-01 -5.02582648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.647719421 meters 0.054890203820750265 Centerline is valid? [True, True] Translation: X:48.71, Y:-4.41, Z:-5.03 [[ 9.77744508e-01 1.97171124e-01 7.16883936e-02 4.87125186e+01] [-1.96703727e-01 9.80368752e-01 -1.35924280e-02 -4.40846360e+00] [-7.29610952e-02 -8.11452443e-04 9.97334458e-01 -5.03137319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.677719421 meters 0.0531380651133776 Centerline is valid? [True, True] Translation: X:48.74, Y:-4.42, Z:-5.03 [[ 9.78454313e-01 1.93023288e-01 7.32746091e-02 4.87430071e+01] [-1.92523955e-01 9.81194037e-01 -1.38848197e-02 -4.42296234e+00] [-7.45767031e-02 -5.21455786e-04 9.97215144e-01 -5.02732385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.707719421 meters 0.053136706412664644 Centerline is valid? [True, True] Translation: X:48.77, Y:-4.44, Z:-5.03 [[ 9.79974156e-01 1.84991625e-01 7.36800721e-02 4.87712253e+01] [-1.84462322e-01 9.82740091e-01 -1.39844888e-02 -4.44199963e+00] [-7.49953740e-02 1.13240408e-04 9.97183875e-01 -5.03245953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.737719421 meters 0.054175120086660755 Centerline is valid? [True, True] Translation: X:48.80, Y:-4.46, Z:-5.04 [[ 9.80799577e-01 1.81503240e-01 7.13355668e-02 4.87996225e+01] [-1.80996074e-01 9.83390268e-01 -1.35647257e-02 -4.45618519e+00] [-7.26127438e-02 3.92819690e-04 9.97360133e-01 -5.04134757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.767719420999995 meters 0.05471470197290565 Centerline is valid? [True, True] Translation: X:48.83, Y:-4.47, Z:-5.04 [[ 9.82356138e-01 1.73227163e-01 7.04894942e-02 4.88290719e+01] [-1.72709926e-01 9.84881385e-01 -1.34140980e-02 -4.47141140e+00] [-7.17474769e-02 1.00318617e-03 9.97422324e-01 -5.04048006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.797719421 meters 0.05466941358324623 Centerline is valid? [True, True] Translation: X:48.86, Y:-4.48, Z:-5.04 [[ 9.82677319e-01 1.70478530e-01 7.26798354e-02 4.88610995e+01] [-1.69920642e-01 9.85360601e-01 -1.38369316e-02 -4.47687584e+00] [-7.39747460e-02 1.24743461e-03 9.97259335e-01 -5.03919562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.827719421 meters 0.05503657084438321 Centerline is valid? [True, True] Translation: X:48.89, Y:-4.48, Z:-5.04 [[ 9.83046631e-01 1.67474471e-01 7.46433062e-02 4.88943390e+01] [-1.66875587e-01 9.85875216e-01 -1.42336384e-02 -4.47933092e+00] [-7.59727567e-02 1.53618468e-03 9.97108710e-01 -5.03761615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.857719421 meters 0.05534760789613102 Centerline is valid? [True, True] Translation: X:48.93, Y:-4.48, Z:-5.04 [[ 9.82924582e-01 1.67859907e-01 7.53811522e-02 4.89259089e+01] [-1.67247994e-01 9.85809641e-01 -1.44034655e-02 -4.48182034e+00] [-7.67292310e-02 1.55017377e-03 9.97050762e-01 -5.04013689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.887719421 meters 0.05479720064243953 Centerline is valid? [True, True] Translation: X:48.96, Y:-4.48, Z:-5.04 [[ 9.82617614e-01 1.69781905e-01 7.50781552e-02 4.89578376e+01] [-1.69178911e-01 9.85480645e-01 -1.43664010e-02 -4.48360226e+00] [-7.64272238e-02 1.41503808e-03 9.97074158e-01 -5.04389353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.917719421 meters 0.0544012545240155 Centerline is valid? [True, True] Translation: X:48.99, Y:-4.48, Z:-5.05 [[ 9.81943242e-01 1.74568141e-01 7.28932966e-02 4.89898521e+01] [-1.74011270e-01 9.84644552e-01 -1.39708149e-02 -4.47704838e+00] [-7.42128466e-02 1.03429219e-03 9.97241888e-01 -5.05121008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.947719421 meters 0.05382784348282535 Centerline is valid? [True, True] Translation: X:49.02, Y:-4.47, Z:-5.06 [[ 9.81262414e-01 1.78569319e-01 7.23676254e-02 4.90227548e+01] [-1.78029824e-01 9.83927051e-01 -1.38903063e-02 -4.47321797e+00] [-7.36848468e-02 7.46439872e-04 9.97281297e-01 -5.05512772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.977719420999996 meters 0.05293489614790179 Centerline is valid? [True, True] Translation: X:49.06, Y:-4.46, Z:-5.05 [[ 9.79552764e-01 1.87500726e-01 7.29373730e-02 4.90592075e+01] [-1.86975458e-01 9.82264459e-01 -1.40253536e-02 -4.45776721e+00] [-7.42735533e-02 1.01075159e-04 9.97237900e-01 -5.05469660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.007719421 meters 0.05313233328219402 Centerline is valid? [True, True] Translation: X:49.09, Y:-4.46, Z:-5.06 [[ 9.78676494e-01 1.92155814e-01 7.25841818e-02 4.90930422e+01] [-1.91647881e-01 9.81364399e-01 -1.39644553e-02 -4.45689993e+00] [-7.39148832e-02 -2.43920520e-04 9.97264524e-01 -5.05826641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.037719421 meters 0.054227526597535505 Centerline is valid? [True, True] Translation: X:49.13, Y:-4.45, Z:-5.07 [[ 9.77566841e-01 1.99054579e-01 6.88501703e-02 4.91252828e+01] [-1.98612431e-01 9.79988159e-01 -1.32781596e-02 -4.45145075e+00] [-7.01154301e-02 -6.94211215e-04 9.97538643e-01 -5.06567830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.067719421 meters 0.05531275602209782 Centerline is valid? [True, True] Translation: X:49.16, Y:-4.45, Z:-5.07 [[ 9.76921483e-01 2.02748007e-01 6.72135473e-02 4.91564018e+01] [-2.02335425e-01 9.79230498e-01 -1.29617947e-02 -4.44954655e+00] [-6.84455334e-02 -9.37026003e-04 9.97654415e-01 -5.07221983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.097719421 meters 0.05685921402682006 Centerline is valid? [True, True] Translation: X:49.19, Y:-4.44, Z:-5.08 [[ 9.75746358e-01 2.08512505e-01 6.66451743e-02 4.91904681e+01] [-2.08119461e-01 9.78018813e-01 -1.28643421e-02 -4.44232585e+00] [-6.78626104e-02 -1.31782285e-03 9.97693805e-01 -5.07697482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.127719421 meters 0.05713499978384245 Centerline is valid? [True, True] Translation: X:49.22, Y:-4.45, Z:-5.08 [[ 9.75193319e-01 2.10836722e-01 6.74230481e-02 4.92226514e+01] [-2.10440074e-01 9.77520144e-01 -1.30131876e-02 -4.44622075e+00] [-6.86510456e-02 -1.49813758e-03 9.97639609e-01 -5.07844606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.157719420999996 meters 0.05761984087203805 Centerline is valid? [True, True] Translation: X:49.25, Y:-4.45, Z:-5.08 [[ 9.74218876e-01 2.14188246e-01 7.08588492e-02 4.92548402e+01] [-2.13756703e-01 9.76790756e-01 -1.37073071e-02 -4.44793992e+00] [-7.21502130e-02 -1.79263671e-03 9.97392166e-01 -5.07740568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.187719421 meters 0.0582891710928874 Centerline is valid? [True, True] Translation: X:49.29, Y:-4.45, Z:-5.08 [[ 9.73774721e-01 2.16204567e-01 7.08405051e-02 4.92861884e+01] [-2.15778344e-01 9.76346162e-01 -1.37068747e-02 -4.44983757e+00] [-7.21283441e-02 -1.93843874e-03 9.97393475e-01 -5.08015274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.217719421 meters 0.05973068214175441 Centerline is valid? [True, True] Translation: X:49.32, Y:-4.45, Z:-5.09 [[ 9.73426081e-01 2.18788718e-01 6.76251621e-02 4.93173270e+01] [-2.18406269e-01 9.75770148e-01 -1.30889332e-02 -4.44775994e+00] [-6.88503253e-02 -2.02865037e-03 9.97624938e-01 -5.08731885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.247719421 meters 0.05964082053597745 Centerline is valid? [True, True] Translation: X:49.35, Y:-4.45, Z:-5.09 [[ 9.74129219e-01 2.16438635e-01 6.50121662e-02 4.93457775e+01] [-2.16079913e-01 9.76294584e-01 -1.25839540e-02 -4.45376017e+00] [-6.61946796e-02 -1.78942594e-03 9.97805122e-01 -5.09442083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.277719421 meters 0.05767559142022871 Centerline is valid? [True, True] Translation: X:49.38, Y:-4.47, Z:-5.09 [[ 9.74875483e-01 2.12732979e-01 6.60490174e-02 4.93755259e+01] [-2.12354473e-01 9.77109117e-01 -1.27808798e-02 -4.46643414e+00] [-6.72560117e-02 -1.56603791e-03 9.97734522e-01 -5.09464682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.307719421 meters 0.05537391609878095 Centerline is valid? [True, True] Translation: X:49.40, Y:-4.48, Z:-5.10 [[ 9.77078144e-01 2.01687690e-01 6.81203088e-02 4.94027904e+01] [-2.01257859e-01 9.79449536e-01 -1.31863695e-02 -4.48435271e+00] [-6.93799333e-02 -8.25634068e-04 9.97589967e-01 -5.09776008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.337719420999996 meters 0.054439372920297664 Centerline is valid? [True, True] Translation: X:49.43, Y:-4.50, Z:-5.10 [[ 9.78336994e-01 1.95499556e-01 6.80929442e-02 4.94329478e+01] [-1.95055781e-01 9.80703710e-01 -1.31710234e-02 -4.49701979e+00] [-6.93539322e-02 -3.96222914e-04 9.97592038e-01 -5.09932777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.367719421 meters 0.05417029411512243 Centerline is valid? [True, True] Translation: X:49.46, Y:-4.51, Z:-5.10 [[ 9.79374643e-01 1.90161371e-01 6.82932080e-02 4.94638080e+01] [-1.89700522e-01 9.81752847e-01 -1.32309784e-02 -4.50810819e+00] [-6.95630724e-02 2.82752534e-06 9.97577555e-01 -5.10261904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.397719421 meters 0.05424152274309938 Centerline is valid? [True, True] Translation: X:49.49, Y:-4.52, Z:-5.10 [[ 9.80511750e-01 1.83334962e-01 7.06045331e-02 4.94941294e+01] [-1.82823001e-01 9.83050362e-01 -1.37016770e-02 -4.52155651e+00] [-7.19198083e-02 5.26522615e-04 9.97410279e-01 -5.10092223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.427719421 meters 0.055778803912337145 Centerline is valid? [True, True] Translation: X:49.52, Y:-4.53, Z:-5.11 [[ 9.81021432e-01 1.80735024e-01 7.02267871e-02 4.95228410e+01] [-1.80219960e-01 9.83531547e-01 -1.36551099e-02 -4.53433466e+00] [-7.15382172e-02 7.39686713e-04 9.97437585e-01 -5.11180571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.457719421 meters 0.05534445239493583 Centerline is valid? [True, True] Translation: X:49.55, Y:-4.55, Z:-5.11 [[ 9.81864576e-01 1.75379994e-01 7.19987000e-02 4.95542935e+01] [-1.74823544e-01 9.84500125e-01 -1.40083271e-02 -4.54513399e+00] [-7.33395094e-02 1.16721220e-03 9.97306349e-01 -5.10518208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.487719421 meters 0.05690881288848159 Centerline is valid? [True, True] Translation: X:49.58, Y:-4.56, Z:-5.11 [[ 9.82880285e-01 1.68662761e-01 7.41567085e-02 4.95834873e+01] [-1.68051148e-01 9.85672269e-01 -1.44564946e-02 -4.55704551e+00] [-7.55324834e-02 1.74688358e-03 9.97141812e-01 -5.10554818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.517719420999995 meters 0.05799863238021045 Centerline is valid? [True, True] Translation: X:49.61, Y:-4.57, Z:-5.11 [[ 9.83412270e-01 1.65623056e-01 7.39547829e-02 4.96141249e+01] [-1.65005576e-01 9.86187138e-01 -1.44253056e-02 -4.56731637e+00] [-7.53224189e-02 1.98307099e-03 9.97157260e-01 -5.10925859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.547719421 meters 0.06099128884119235 Centerline is valid? [True, True] Translation: X:49.64, Y:-4.58, Z:-5.12 [[ 9.84645075e-01 1.59768897e-01 7.03418479e-02 4.96411529e+01] [-1.59193477e-01 9.87151675e-01 -1.37480167e-02 -4.58069079e+00] [-7.16345784e-02 2.33895357e-03 9.97428201e-01 -5.11545831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.577719421 meters 0.06253971895456693 Centerline is valid? [True, True] Translation: X:49.67, Y:-4.59, Z:-5.12 [[ 9.85265690e-01 1.56566804e-01 6.88357245e-02 4.96696929e+01] [-1.56007704e-01 9.87664154e-01 -1.34578728e-02 -4.58771303e+00] [-7.00936337e-02 2.52067706e-03 9.97537232e-01 -5.12002864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.607719421 meters 0.0638836347234122 Centerline is valid? [True, True] Translation: X:49.70, Y:-4.59, Z:-5.12 [[ 9.85742734e-01 1.53761129e-01 6.83284486e-02 4.97019766e+01] [-1.53203719e-01 9.88104367e-01 -1.33559358e-02 -4.59151961e+00] [-6.95692622e-02 2.69734423e-03 9.97573477e-01 -5.12246344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.637719421 meters 0.06296617344739501 Centerline is valid? [True, True] Translation: X:49.73, Y:-4.59, Z:-5.12 [[ 9.85183145e-01 1.55995006e-01 7.12722170e-02 4.97336492e+01] [-1.55393663e-01 9.87754268e-01 -1.39397244e-02 -4.58872299e+00] [-7.25739639e-02 2.65793067e-03 9.97359491e-01 -5.12246832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.667719421 meters 0.06089778598993882 Centerline is valid? [True, True] Translation: X:49.77, Y:-4.58, Z:-5.12 [[ 9.84368429e-01 1.60662284e-01 7.21555744e-02 4.97653712e+01] [-1.60058252e-01 9.87006652e-01 -1.41146833e-02 -4.58482435e+00] [-7.34857292e-02 2.34495348e-03 9.97293512e-01 -5.12446555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.697719420999995 meters 0.06089778598993882 Centerline is valid? [True, True] Translation: X:49.80, Y:-4.59, Z:-5.13 [[ 9.84316917e-01 1.60976778e-01 7.21573582e-02 4.97970782e+01] [-1.60374256e-01 9.86955486e-01 -1.41055721e-02 -4.59131593e+00] [-7.34867700e-02 2.31217058e-03 9.97293512e-01 -5.12779703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.727719420999996 meters 0.05848677119607499 Centerline is valid? [True, True] Translation: X:49.83, Y:-4.59, Z:-5.13 [[ 9.83294854e-01 1.67020185e-01 7.23566668e-02 4.98304338e+01] [-1.66428334e-01 9.85951652e-01 -1.41756534e-02 -4.58570440e+00] [-7.37077955e-02 1.89664756e-03 9.97278077e-01 -5.12977312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.757719421 meters 0.05308579066028257 Centerline is valid? [True, True] Translation: X:49.87, Y:-4.55, Z:-5.13 [[ 9.79406253e-01 1.88244291e-01 7.29895783e-02 4.98679265e+01] [-1.87699953e-01 9.82122186e-01 -1.43087210e-02 -4.55203890e+00] [-7.43782192e-02 3.13910465e-04 9.97230055e-01 -5.13069367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.787719421 meters 0.05329040159080961 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.54, Z:-5.14 [[ 9.78249129e-01 1.94307152e-01 7.26179883e-02 4.98987507e+01] [-1.93784925e-01 9.80940727e-01 -1.42370272e-02 -4.54346944e+00] [-7.40002984e-02 -1.44912010e-04 9.97258209e-01 -5.13735819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.817719421 meters 0.05407084556124665 Centerline is valid? [True, True] Translation: X:49.93, Y:-4.54, Z:-5.14 [[ 9.77301234e-01 1.99930761e-01 7.00713109e-02 4.99294618e+01] [-1.99458997e-01 9.79809873e-01 -1.37375741e-02 -4.53581196e+00] [-7.14031259e-02 -5.50605219e-04 9.97447387e-01 -5.14356434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.847719421 meters 0.057280627682708606 Centerline is valid? [True, True] Translation: X:49.96, Y:-4.52, Z:-5.16 [[ 9.76092024e-01 2.07938650e-01 6.32920052e-02 4.99600841e+01] [-2.07570930e-01 9.78141327e-01 -1.24037454e-02 -4.52453558e+00] [-6.44877440e-02 -1.03038337e-03 9.97917967e-01 -5.15766632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.877719421 meters 0.058132256049138215 Centerline is valid? [True, True] Translation: X:49.99, Y:-4.53, Z:-5.16 [[ 9.75971539e-01 2.09194179e-01 6.09700791e-02 4.99889637e+01] [-2.08855438e-01 9.77873532e-01 -1.19482756e-02 -4.52739022e+00] [-6.21205363e-02 -1.07275569e-03 9.98068078e-01 -5.16439697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.907719420999996 meters 0.057726616200957676 Centerline is valid? [True, True] Translation: X:50.02, Y:-4.53, Z:-5.17 [[ 9.76816374e-01 2.05771359e-01 5.90586022e-02 5.00154457e+01] [-2.05447260e-01 9.78599746e-01 -1.15741353e-02 -4.53188889e+00] [-6.01763587e-02 -8.27623107e-04 9.98187418e-01 -5.17030714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.937719421 meters 0.05554974961652004 Centerline is valid? [True, True] Translation: X:50.04, Y:-4.54, Z:-5.16 [[ 9.77303229e-01 2.03057551e-01 6.03823627e-02 5.00441379e+01] [-2.02714020e-01 9.79166567e-01 -1.18262843e-02 -4.53897458e+00] [-6.15258071e-02 -6.82485620e-04 9.98105260e-01 -5.16486215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.967719421 meters 0.05548061096573615 Centerline is valid? [True, True] Translation: X:50.07, Y:-4.54, Z:-5.17 [[ 9.78029936e-01 1.98987992e-01 6.21387491e-02 5.00712648e+01] [-1.98616262e-01 9.80001828e-01 -1.21654479e-02 -4.54329815e+00] [-6.33168658e-02 -4.43593841e-04 9.97993376e-01 -5.16979574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.997719421 meters 0.055247939176751575 Centerline is valid? [True, True] Translation: X:50.10, Y:-4.55, Z:-5.17 [[ 9.78296482e-01 1.97593279e-01 6.23930295e-02 5.00992689e+01] [-1.97216158e-01 9.80284023e-01 -1.22074562e-02 -4.54898422e+00] [-6.35750012e-02 -3.62402111e-04 9.97976998e-01 -5.17264830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.027719421 meters 0.05520184270742383 Centerline is valid? [True, True] Translation: X:50.13, Y:-4.56, Z:-5.18 [[ 9.78725135e-01 1.95528248e-01 6.21756733e-02 5.01258739e+01] [-1.95149854e-01 9.80698043e-01 -1.21607415e-02 -4.55629964e+00] [-6.33533296e-02 -2.31550216e-04 9.97991133e-01 -5.17802071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.057719421 meters 0.055514827687796794 Centerline is valid? [True, True] Translation: X:50.15, Y:-4.56, Z:-5.18 [[ 9.79206136e-01 1.93488728e-01 6.09709442e-02 5.01535407e+01] [-1.93121330e-01 9.81102493e-01 -1.19185085e-02 -4.56310206e+00] [-6.21248424e-02 -1.04113188e-04 9.98068381e-01 -5.18391410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.087719420999996 meters 0.05572581230177477 Centerline is valid? [True, True] Translation: X:50.18, Y:-4.57, Z:-5.19 [[ 9.80442767e-01 1.87933717e-01 5.84200214e-02 5.01815710e+01] [-1.87586929e-01 9.82181686e-01 -1.14140242e-02 -4.57323675e+00] [-5.95241551e-02 2.31965020e-04 9.98226839e-01 -5.18845961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.117719421 meters 0.05641794521920576 Centerline is valid? [True, True] Translation: X:50.21, Y:-4.58, Z:-5.19 [[ 9.81112448e-01 1.83731991e-01 6.05055383e-02 5.02082131e+01] [-1.83352048e-01 9.82976247e-01 -1.18205086e-02 -4.58246911e+00] [-6.16473126e-02 5.03433780e-04 9.98097869e-01 -5.19318352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.147719421 meters 0.056265642245047015 Centerline is valid? [True, True] Translation: X:50.24, Y:-4.59, Z:-5.18 [[ 9.82392926e-01 1.75765906e-01 6.33283944e-02 5.02371938e+01] [-1.75333524e-01 9.84431438e-01 -1.23652188e-02 -4.59162575e+00] [-6.45158463e-02 1.04391288e-03 9.97916137e-01 -5.18491825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.177719421 meters 0.056702793390705775 Centerline is valid? [True, True] Translation: X:50.27, Y:-4.60, Z:-5.18 [[ 9.83347464e-01 1.70073884e-01 6.40518492e-02 5.02667700e+01] [-1.69619755e-01 9.85430276e-01 -1.25023588e-02 -4.59919224e+00] [-6.52449562e-02 1.42970385e-03 9.97868254e-01 -5.18344265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.207719421 meters 0.05909607522860607 Centerline is valid? [True, True] Translation: X:50.30, Y:-4.61, Z:-5.19 [[ 9.83801081e-01 1.67755964e-01 6.31931069e-02 5.02953116e+01] [-1.67309271e-01 9.85827318e-01 -1.23331578e-02 -4.60884846e+00] [-6.43664519e-02 1.56058138e-03 9.97925110e-01 -5.19272685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.237719421 meters 0.0624647129506243 Centerline is valid? [True, True] Translation: X:50.32, Y:-4.62, Z:-5.20 [[ 9.84700940e-01 1.62623604e-01 6.25909148e-02 5.03227926e+01] [-1.62174988e-01 9.86686391e-01 -1.22163803e-02 -4.62099933e+00] [-6.37442756e-02 1.87880028e-03 9.97964497e-01 -5.20003387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.267719420999995 meters 0.0635177722819603 Centerline is valid? [True, True] Translation: X:50.35, Y:-4.63, Z:-5.20 [[ 9.84966392e-01 1.61098939e-01 6.23565446e-02 5.03535656e+01] [-1.60650691e-01 9.86936297e-01 -1.21696763e-02 -4.62950189e+00] [-6.35024592e-02 1.96910020e-03 9.97979739e-01 -5.20371494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.297719421 meters 0.0654207564544389 Centerline is valid? [True, True] Translation: X:50.38, Y:-4.63, Z:-5.21 [[ 9.85436212e-01 1.58384396e-01 6.18858310e-02 5.03839007e+01] [-1.57935968e-01 9.87375182e-01 -1.21029257e-02 -4.63313229e+00] [-6.30214482e-02 2.15266258e-03 9.98009851e-01 -5.20858893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.327719421 meters 0.06256380321570751 Centerline is valid? [True, True] Translation: X:50.42, Y:-4.63, Z:-5.20 [[ 9.85484799e-01 1.57844756e-01 6.24879424e-02 5.04178028e+01] [-1.57386908e-01 9.87461486e-01 -1.22137528e-02 -4.63028533e+00] [-6.36323132e-02 2.20168367e-03 9.97970982e-01 -5.20461645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.357719421 meters 0.06478970735520723 Centerline is valid? [True, True] Translation: X:50.45, Y:-4.63, Z:-5.21 [[ 9.85075762e-01 1.59363656e-01 6.50305245e-02 5.04476581e+01] [-1.58869161e-01 9.87217457e-01 -1.27389984e-02 -4.63408904e+00] [-6.62294024e-02 2.21753370e-03 9.97801959e-01 -5.21158403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.387719421 meters 0.06111390709315045 Centerline is valid? [True, True] Translation: X:50.48, Y:-4.63, Z:-5.21 [[ 9.84666639e-01 1.61491844e-01 6.59696475e-02 5.04800136e+01] [-1.60987474e-01 9.86871796e-01 -1.29264061e-02 -4.63227058e+00] [-6.71910936e-02 2.10791389e-03 9.97737898e-01 -5.20850428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.417719421 meters 0.0567313666543349 Centerline is valid? [True, True] Translation: X:50.51, Y:-4.62, Z:-5.21 [[ 9.83560828e-01 1.67309917e-01 6.79373898e-02 5.05123704e+01] [-1.66788586e-01 9.85902772e-01 -1.33150666e-02 -4.62440448e+00] [-6.92074036e-02 1.76499673e-03 9.97600732e-01 -5.20644520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.447719420999995 meters 0.056599573022075925 Centerline is valid? [True, True] Translation: X:50.54, Y:-4.63, Z:-5.21 [[ 9.82806924e-01 1.70722817e-01 7.03155070e-02 5.05408578e+01] [-1.70173104e-01 9.85317833e-01 -1.37797635e-02 -4.62581258e+00] [-7.16356431e-02 1.57703892e-03 9.97429620e-01 -5.21168370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.477719420999996 meters 0.05320311876063558 Centerline is valid? [True, True] Translation: X:50.57, Y:-4.61, Z:-5.21 [[ 9.81259639e-01 1.77826550e-01 7.42107782e-02 5.05743138e+01] [-1.77234864e-01 9.84061219e-01 -1.45368751e-02 -4.61438061e+00] [-7.56129912e-02 1.11171170e-03 9.97136620e-01 -5.20730271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.507719421 meters 0.05294343110043996 Centerline is valid? [True, True] Translation: X:50.60, Y:-4.61, Z:-5.21 [[ 9.80939962e-01 1.79868575e-01 7.35124916e-02 5.06027999e+01] [-1.79293657e-01 9.83690195e-01 -1.44008288e-02 -4.61403266e+00] [-7.49037738e-02 9.46025039e-04 9.97190318e-01 -5.21198682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.537719421 meters 0.05255269574744119 Centerline is valid? [True, True] Translation: X:50.63, Y:-4.61, Z:-5.22 [[ 9.80458725e-01 1.83836973e-01 7.00332481e-02 5.06319140e+01] [-1.83325843e-01 9.82956561e-01 -1.37125741e-02 -4.61006090e+00] [-7.13605189e-02 6.05708660e-04 9.97450405e-01 -5.21915571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.567719421 meters 0.05190948759833551 Centerline is valid? [True, True] Translation: X:50.66, Y:-4.60, Z:-5.22 [[ 9.78966545e-01 1.90638203e-01 7.26744733e-02 5.06622982e+01] [-1.90107056e-01 9.81660361e-01 -1.42212194e-02 -4.60172004e+00] [-7.40527574e-02 1.06167851e-04 9.97254320e-01 -5.22161726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.597719421 meters 0.05269709579665029 Centerline is valid? [True, True] Translation: X:50.69, Y:-4.60, Z:-5.23 [[ 9.78063110e-01 1.95563797e-01 7.17450668e-02 5.06909989e+01] [-1.95059771e-01 9.80690945e-01 -1.40341169e-02 -4.59699881e+00] [-7.31043025e-02 -2.68324258e-04 9.97324265e-01 -5.22946979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.627719421 meters 0.0546050307478103 Centerline is valid? [True, True] Translation: X:50.72, Y:-4.59, Z:-5.23 [[ 9.75799738e-01 2.08597466e-01 6.55893850e-02 5.07246083e+01] [-2.08206300e-01 9.78000912e-01 -1.28200490e-02 -4.58563297e+00] [-6.68207080e-02 -1.14632266e-03 9.97764340e-01 -5.23163888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.657719420999996 meters 0.058378238944222734 Centerline is valid? [True, True] Translation: X:50.75, Y:-4.58, Z:-5.24 [[ 9.74738177e-01 2.13955059e-01 6.40992954e-02 5.07536577e+01] [-2.13592679e-01 9.76842393e-01 -1.25341947e-02 -4.58129564e+00] [-6.52966635e-02 -1.47358218e-03 9.97864808e-01 -5.24361435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.687719421 meters 0.059342464196799546 Centerline is valid? [True, True] Translation: X:50.78, Y:-4.58, Z:-5.24 [[ 9.73017574e-01 2.21988138e-01 6.29131736e-02 5.07837534e+01] [-2.21656341e-01 9.75047349e-01 -1.22936133e-02 -4.58420068e+00] [-6.40723595e-02 -1.98320207e-03 9.97943285e-01 -5.24199360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.717719421 meters 0.05966303309604336 Centerline is valid? [True, True] Translation: X:50.81, Y:-4.59, Z:-5.24 [[ 9.72574606e-01 2.23716390e-01 6.36365678e-02 5.08122594e+01] [-2.23379991e-01 9.74651997e-01 -1.24444221e-02 -4.58837663e+00] [-6.48075291e-02 -2.11200695e-03 9.97895547e-01 -5.24300317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.747719421 meters 0.0591957130326684 Centerline is valid? [True, True] Translation: X:50.84, Y:-4.60, Z:-5.24 [[ 9.72542718e-01 2.23038572e-01 6.64413851e-02 5.08396949e+01] [-2.22672324e-01 9.74807165e-01 -1.29625582e-02 -4.59787814e+00] [-6.76586887e-02 -2.18801608e-03 9.97706126e-01 -5.24335936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.777719421 meters 0.0570188313203765 Centerline is valid? [True, True] Translation: X:50.87, Y:-4.62, Z:-5.24 [[ 9.73740194e-01 2.17389159e-01 6.76164698e-02 5.08667362e+01] [-2.16996807e-01 9.76083288e-01 -1.31833599e-02 -4.61662291e+00] [-6.88652257e-02 -1.83539059e-03 9.97624284e-01 -5.24490156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.807719421 meters 0.05641677638349128 Centerline is valid? [True, True] Translation: X:50.89, Y:-4.63, Z:-5.25 [[ 9.74590139e-01 2.13733515e-01 6.70227191e-02 5.08925627e+01] [-2.13339290e-01 9.76890754e-01 -1.30690931e-02 -4.62760625e+00] [-6.82671779e-02 -1.56157010e-03 9.97665853e-01 -5.24917363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.837719420999996 meters 0.05556400240627798 Centerline is valid? [True, True] Translation: X:50.92, Y:-4.64, Z:-5.25 [[ 9.75177756e-01 2.10803216e-01 6.77521121e-02 5.09192225e+01] [-2.10393878e-01 9.77527545e-01 -1.32028413e-02 -4.63921939e+00] [-6.90127572e-02 -1.37951245e-03 9.97614824e-01 -5.25116303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.867719421 meters 0.05399181758520888 Centerline is valid? [True, True] Translation: X:50.95, Y:-4.66, Z:-5.25 [[ 9.75753922e-01 2.07381714e-01 6.99793396e-02 5.09451789e+01] [-2.06936659e-01 9.78259388e-01 -1.36304671e-02 -4.65720869e+00] [-7.12846556e-02 -1.18130901e-03 9.97455313e-01 -5.25063984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.897719421 meters 0.05436729003052195 Centerline is valid? [True, True] Translation: X:50.97, Y:-4.66, Z:-5.26 [[ 9.75848553e-01 2.07143596e-01 6.93623236e-02 5.09721376e+01] [-2.06706159e-01 9.78309863e-01 -1.35046856e-02 -4.66466702e+00] [-7.06552544e-02 -1.15909159e-03 9.97500121e-01 -5.25586822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.927719421 meters 0.05395719121600426 Centerline is valid? [True, True] Translation: X:51.00, Y:-4.68, Z:-5.26 [[ 9.76307670e-01 2.05439188e-01 6.79564057e-02 5.09990285e+01] [-2.05015763e-01 9.78669349e-01 -1.32228062e-02 -4.67562751e+00] [-6.92233339e-02 -1.02260725e-03 9.97600664e-01 -5.25901195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.957719421 meters 0.054214838536439394 Centerline is valid? [True, True] Translation: X:51.02, Y:-4.69, Z:-5.26 [[ 9.77053065e-01 2.02491742e-01 6.60636282e-02 5.10247252e+01] [-2.02085202e-01 9.79283647e-01 -1.28495184e-02 -4.68603184e+00] [-6.72969521e-02 -7.95820277e-04 9.97732673e-01 -5.26488236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.987719421 meters 0.05479477547649602 Centerline is valid? [True, True] Translation: X:51.05, Y:-4.69, Z:-5.27 [[ 9.77439189e-01 2.00935181e-01 6.50974974e-02 5.10510126e+01] [-2.00537488e-01 9.79604299e-01 -1.26543570e-02 -4.69464714e+00] [-6.63124938e-02 -6.85624128e-04 9.97798669e-01 -5.27290968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.017719420999995 meters 0.054259762260267526 Centerline is valid? [True, True] Translation: X:51.08, Y:-4.71, Z:-5.27 [[ 9.77930218e-01 1.98953996e-01 6.37949478e-02 5.10782955e+01] [-1.98568354e-01 9.80008677e-01 -1.23935960e-02 -4.70662619e+00] [-6.49853579e-02 -5.47585705e-04 9.97886067e-01 -5.27382478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.047719421 meters 0.05413084787170475 Centerline is valid? [True, True] Translation: X:51.10, Y:-4.72, Z:-5.28 [[ 9.79159265e-01 1.92694864e-01 6.41546812e-02 5.11033381e+01] [-1.92291735e-01 9.81258717e-01 -1.24586451e-02 -4.72397890e+00] [-6.53530571e-02 -1.37417230e-04 9.97862194e-01 -5.27837463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.077719421 meters 0.05358750173170961 Centerline is valid? [True, True] Translation: X:51.13, Y:-4.74, Z:-5.28 [[ 9.80240535e-01 1.87360618e-01 6.34388937e-02 5.11298911e+01] [-1.86955745e-01 9.82291176e-01 -1.23123627e-02 -4.73904189e+00] [-6.46223174e-02 2.08811334e-04 9.97909772e-01 -5.27525281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.107719421 meters 0.05346275976442921 Centerline is valid? [True, True] Translation: X:51.16, Y:-4.75, Z:-5.28 [[ 9.80213908e-01 1.87578431e-01 6.32062190e-02 5.11575970e+01] [-1.87177339e-01 9.82249610e-01 -1.22616071e-02 -4.74503182e+00] [-6.43842970e-02 1.88225885e-04 9.97925161e-01 -5.27714152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.137719421 meters 0.05373188201556889 Centerline is valid? [True, True] Translation: X:51.19, Y:-4.75, Z:-5.28 [[ 9.79044641e-01 1.92929141e-01 6.51915390e-02 5.11859341e+01] [-1.92514679e-01 9.81212676e-01 -1.26404936e-02 -4.74631440e+00] [-6.64054840e-02 -1.74720654e-04 9.97792705e-01 -5.28106984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.167719421 meters 0.054088428742448964 Centerline is valid? [True, True] Translation: X:51.21, Y:-4.75, Z:-5.29 [[ 9.78381159e-01 1.96402158e-01 6.47803932e-02 5.12139896e+01] [-1.96000856e-01 9.80523341e-01 -1.25555779e-02 -4.74907722e+00] [-6.59846301e-02 -4.12871705e-04 9.97820554e-01 -5.28522617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.197719420999995 meters 0.05512285889759222 Centerline is valid? [True, True] Translation: X:51.24, Y:-4.75, Z:-5.29 [[ 9.76385137e-01 2.05900667e-01 6.53986141e-02 5.12429508e+01] [-2.05513405e-01 9.78572310e-01 -1.26678214e-02 -4.75009722e+00] [-6.66055858e-02 -1.07161927e-03 9.97778807e-01 -5.28559254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.227719420999996 meters 0.057019805275421984 Centerline is valid? [True, True] Translation: X:51.27, Y:-4.75, Z:-5.29 [[ 9.74750371e-01 2.13065157e-01 6.68203029e-02 5.12718603e+01] [-2.12678010e-01 9.77036682e-01 -1.29377564e-02 -4.74813880e+00] [-6.80424721e-02 -1.60012612e-03 9.97681142e-01 -5.28773982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.257719421 meters 0.05788151155802492 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.75, Z:-5.29 [[ 9.74095099e-01 2.16091103e-01 6.66586368e-02 5.13005101e+01] [-2.15713388e-01 9.76371520e-01 -1.28992221e-02 -4.74965052e+00] [-6.78710016e-02 -1.81409131e-03 9.97692456e-01 -5.28943911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.287719421 meters 0.059418483860713064 Centerline is valid? [True, True] Translation: X:51.33, Y:-4.75, Z:-5.29 [[ 9.73260149e-01 2.19278912e-01 6.84210564e-02 5.13281262e+01] [-2.18889238e-01 9.75659963e-01 -1.32339723e-02 -4.75177432e+00] [-6.96576164e-02 -2.09653505e-03 9.97568755e-01 -5.29122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.317719421 meters 0.060090578576081514 Centerline is valid? [True, True] Translation: X:51.36, Y:-4.76, Z:-5.30 [[ 9.73156347e-01 2.19740880e-01 6.84154183e-02 5.13556663e+01] [-2.19353344e-01 9.75555921e-01 -1.32194958e-02 -4.76092060e+00] [-6.96479300e-02 -2.14251460e-03 9.97569334e-01 -5.29564128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.347719421 meters 0.05816514641611466 Centerline is valid? [True, True] Translation: X:51.38, Y:-4.78, Z:-5.30 [[ 9.73737231e-01 2.17198918e-01 6.82673714e-02 5.13815008e+01] [-2.16807220e-01 9.76125392e-01 -1.31851673e-02 -4.77974058e+00] [-6.95013187e-02 -1.96197071e-03 9.97579930e-01 -5.29710226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.377719421 meters 0.057781845974753436 Centerline is valid? [True, True] Translation: X:51.41, Y:-4.79, Z:-5.30 [[ 9.73922929e-01 2.16260106e-01 6.85980707e-02 5.14092091e+01] [-2.15862714e-01 9.76333917e-01 -1.32427897e-02 -4.78717827e+00] [-6.98385102e-02 -1.91030918e-03 9.97556481e-01 -5.29936324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.407719420999996 meters 0.059638444692534695 Centerline is valid? [True, True] Translation: X:51.44, Y:-4.79, Z:-5.30 [[ 9.73409364e-01 2.17858998e-01 7.07931231e-02 5.14369691e+01] [-2.17440399e-01 9.75978004e-01 -1.36605033e-02 -4.78775491e+00] [-7.20685945e-02 -2.09602310e-03 9.97397476e-01 -5.30261392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.437719421 meters 0.06026987781687745 Centerline is valid? [True, True] Translation: X:51.47, Y:-4.79, Z:-5.30 [[ 9.73047065e-01 2.19388916e-01 7.10486659e-02 5.14650826e+01] [-2.18971988e-01 9.75634947e-01 -1.37010811e-02 -4.79308872e+00] [-7.23234267e-02 -2.22587081e-03 9.97378748e-01 -5.30458829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.467719421 meters 0.05965792142601345 Centerline is valid? [True, True] Translation: X:51.49, Y:-4.81, Z:-5.30 [[ 9.72454927e-01 2.22167102e-01 7.05208734e-02 5.14924332e+01] [-2.21764087e-01 9.75005600e-01 -1.35929783e-02 -4.80666715e+00] [-7.17781591e-02 -2.42043840e-03 9.97417685e-01 -5.30489104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.497719421 meters 0.061579079580936405 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.81, Z:-5.31 [[ 9.71761374e-01 2.25314468e-01 7.00943849e-02 5.15204671e+01] [-2.24924823e-01 9.74282512e-01 -1.35059571e-02 -4.81127908e+00] [-7.13348209e-02 -2.64139961e-03 9.97448929e-01 -5.30951560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.527719421 meters 0.06141172995890595 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.82, Z:-5.31 [[ 9.71423352e-01 2.27485387e-01 6.77279058e-02 5.15494128e+01] [-2.27127232e-01 9.73777721e-01 -1.30449083e-02 -4.81762614e+00] [-6.89194518e-02 -2.71072323e-03 9.97618545e-01 -5.31308500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.557719421 meters 0.0633644635824315 Centerline is valid? [True, True] Translation: X:51.58, Y:-4.82, Z:-5.32 [[ 9.71263721e-01 2.29641819e-01 6.25413329e-02 5.15765713e+01] [-2.29341066e-01 9.73271613e-01 -1.20433412e-02 -4.82410037e+00] [-6.36353588e-02 -2.64603556e-03 9.97969709e-01 -5.32195054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.587719420999996 meters 0.0633644635824315 Centerline is valid? [True, True] Translation: X:51.60, Y:-4.83, Z:-5.32 [[ 9.71294023e-01 2.29513649e-01 6.25412299e-02 5.16034948e+01] [-2.29212597e-01 9.73301870e-01 -1.20438781e-02 -4.82911555e+00] [-6.36357304e-02 -2.63709087e-03 9.97969709e-01 -5.32476995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.617719421 meters 0.06408005760607972 Centerline is valid? [True, True] Translation: X:51.63, Y:-4.84, Z:-5.33 [[ 9.71495999e-01 2.28788197e-01 6.20603360e-02 5.16299090e+01] [-2.28490874e-01 9.73472810e-01 -1.19419192e-02 -4.83782676e+00] [-6.31462198e-02 -2.57869364e-03 9.98000955e-01 -5.33048978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.647719421 meters 0.061424143107722276 Centerline is valid? [True, True] Translation: X:51.66, Y:-4.86, Z:-5.33 [[ 9.72878446e-01 2.22669817e-01 6.26552618e-02 5.16568839e+01] [-2.22354769e-01 9.74891408e-01 -1.20457335e-02 -4.85779886e+00] [-6.37642977e-02 -2.21266186e-03 9.97962534e-01 -5.33366079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.677719421 meters 0.059815280362938435 Centerline is valid? [True, True] Translation: X:51.68, Y:-4.87, Z:-5.34 [[ 9.73680896e-01 2.18723494e-01 6.40745358e-02 5.16846115e+01] [-2.18385514e-01 9.75784831e-01 -1.23179198e-02 -4.86942237e+00] [-6.52171785e-02 -1.99922724e-03 9.97869091e-01 -5.33545049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.707719421 meters 0.057037443642031505 Centerline is valid? [True, True] Translation: X:51.71, Y:-4.89, Z:-5.34 [[ 9.75556673e-01 2.09744073e-01 6.55484705e-02 5.17105898e+01] [-2.09370322e-01 9.77755270e-01 -1.25976610e-02 -4.88933572e+00] [-6.67326471e-02 -1.43417218e-03 9.97769862e-01 -5.33717278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.737719421 meters 0.054633367066591235 Centerline is valid? [True, True] Translation: X:51.74, Y:-4.92, Z:-5.34 [[ 9.77537125e-01 1.99625564e-01 6.76077174e-02 5.17371142e+01] [-1.99203981e-01 9.79871952e-01 -1.29897104e-02 -4.91503432e+00] [-6.88399843e-02 -7.69802242e-04 9.97627417e-01 -5.33898670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.767719420999995 meters 0.053751504719834614 Centerline is valid? [True, True] Translation: X:51.77, Y:-4.93, Z:-5.34 [[ 9.78570970e-01 1.93825399e-01 6.95023155e-02 5.17664034e+01] [-1.93365186e-01 9.81035971e-01 -1.33539493e-02 -4.93103191e+00] [-7.07726061e-02 -3.71541051e-04 9.97492406e-01 -5.34066213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.797719421 meters 0.0533462036005796 Centerline is valid? [True, True] Translation: X:51.79, Y:-4.95, Z:-5.34 [[ 9.79538240e-01 1.88483649e-01 7.05602651e-02 5.17949873e+01] [-1.87995570e-01 9.82076328e-01 -1.35555017e-02 -4.94640432e+00] [-7.18505565e-02 1.31150106e-05 9.97415409e-01 -5.34160186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.827719421 meters 0.05432427129243646 Centerline is valid? [True, True] Translation: X:51.82, Y:-4.97, Z:-5.34 [[ 9.81510978e-01 1.77607481e-01 7.13567302e-02 5.18231833e+01] [-1.77078102e-01 9.84101051e-01 -1.37283229e-02 -4.97075388e+00] [-7.26604861e-02 8.38785312e-04 9.97356381e-01 -5.34412705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.857719421 meters 0.05588778109951045 Centerline is valid? [True, True] Translation: X:51.85, Y:-4.99, Z:-5.35 [[ 9.82480401e-01 1.73083562e-01 6.90966187e-02 5.18516248e+01] [-1.72574602e-01 9.84906464e-01 -1.33140384e-02 -4.98504829e+00] [-7.03581476e-02 1.15646027e-03 9.97521124e-01 -5.34974870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.887719421 meters 0.05707338406560311 Centerline is valid? [True, True] Translation: X:51.88, Y:-5.00, Z:-5.35 [[ 9.83211151e-01 1.68327054e-01 7.04403036e-02 5.18802333e+01] [-1.67784435e-01 9.85729990e-01 -1.35930385e-02 -4.99923346e+00] [-7.17231959e-02 1.54604054e-03 9.97423377e-01 -5.35249331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.917719421 meters 0.05663360601472511 Centerline is valid? [True, True] Translation: X:51.91, Y:-5.00, Z:-5.36 [[ 9.82864015e-01 1.69883193e-01 7.15404006e-02 5.19116150e+01] [-1.69326166e-01 9.85463103e-01 -1.38246772e-02 -5.00442220e+00] [-7.28490054e-02 1.47411601e-03 9.97341892e-01 -5.35558990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.947719420999995 meters 0.05627449902472288 Centerline is valid? [True, True] Translation: X:51.94, Y:-5.01, Z:-5.36 [[ 9.82609326e-01 1.71517917e-01 7.11373052e-02 5.19430687e+01] [-1.70969940e-01 9.85180054e-01 -1.37673588e-02 -5.00991561e+00] [-7.24444029e-02 1.36559438e-03 9.97371517e-01 -5.35914700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.977719420999996 meters 0.05451795911765016 Centerline is valid? [True, True] Translation: X:51.98, Y:-5.01, Z:-5.36 [[ 9.81619046e-01 1.76932670e-01 7.15463466e-02 5.19754735e+01] [-1.76390716e-01 9.84222451e-01 -1.38737971e-02 -5.01040088e+00] [-7.28722485e-02 9.98672127e-04 9.97340783e-01 -5.35987429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.007719421 meters 0.05352495502511375 Centerline is valid? [True, True] Translation: X:52.01, Y:-5.01, Z:-5.36 [[ 9.81008795e-01 1.79658281e-01 7.31070890e-02 5.20083600e+01] [-1.79099798e-01 9.83728741e-01 -1.41783438e-02 -5.01334621e+00] [-7.44648015e-02 8.15615104e-04 9.97223309e-01 -5.36060689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.037719421 meters 0.05235534153721251 Centerline is valid? [True, True] Translation: X:52.04, Y:-5.01, Z:-5.36 [[ 9.80073319e-01 1.83375646e-01 7.63522188e-02 5.20404141e+01] [-1.82776375e-01 9.83042748e-01 -1.48240728e-02 -5.01384637e+00] [-7.77758689e-02 5.73296426e-04 9.96970704e-01 -5.35838387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.067719421 meters 0.05196679664671762 Centerline is valid? [True, True] Translation: X:52.07, Y:-5.02, Z:-5.36 [[ 9.79478003e-01 1.86232684e-01 7.70728759e-02 5.20728058e+01] [-1.85631072e-01 9.82505607e-01 -1.49612167e-02 -5.01547278e+00] [-7.85108002e-02 3.47062095e-04 9.96913203e-01 -5.36029336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.097719421 meters 0.05182944729319682 Centerline is valid? [True, True] Translation: X:52.11, Y:-5.01, Z:-5.37 [[ 9.78402336e-01 1.90885992e-01 7.93183938e-02 5.21052487e+01] [-1.90261910e-01 9.81612214e-01 -1.54229595e-02 -5.01276879e+00] [-8.08039310e-02 -1.40947411e-06 9.96730016e-01 -5.36500512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.127719421 meters 0.05194517770237647 Centerline is valid? [True, True] Translation: X:52.14, Y:-5.02, Z:-5.37 [[ 9.78314297e-01 1.91799991e-01 7.81914250e-02 5.21370492e+01] [-1.91194539e-01 9.81434033e-01 -1.52278540e-02 -5.01800271e+00] [-7.96604278e-02 -5.21461986e-05 9.96822057e-01 -5.36902056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.157719420999996 meters 0.05230180992538134 Centerline is valid? [True, True] Translation: X:52.17, Y:-5.03, Z:-5.38 [[ 9.78826732e-01 1.90132281e-01 7.58152017e-02 5.21672511e+01] [-1.89556368e-01 9.81758476e-01 -1.47877836e-02 -5.02584771e+00] [-7.72438519e-02 1.03423677e-04 9.97012225e-01 -5.37543950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.187719421 meters 0.05229685986757648 Centerline is valid? [True, True] Translation: X:52.20, Y:-5.03, Z:-5.38 [[ 9.79223110e-01 1.88469529e-01 7.48420806e-02 5.21991435e+01] [-1.87901964e-01 9.82079006e-01 -1.46177402e-02 -5.03009162e+00] [-7.62558347e-02 2.51055037e-04 9.97088253e-01 -5.37814143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.217719421 meters 0.052656431460399424 Centerline is valid? [True, True] Translation: X:52.23, Y:-5.03, Z:-5.39 [[ 9.79194740e-01 1.88895983e-01 7.41348001e-02 5.22300070e+01] [-1.88338512e-01 9.81997072e-01 -1.45036117e-02 -5.03368936e+00] [-7.55398306e-02 2.39422347e-04 9.97142756e-01 -5.38515925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.247719421 meters 0.052803044262231695 Centerline is valid? [True, True] Translation: X:52.26, Y:-5.03, Z:-5.39 [[ 9.78564264e-01 1.93223805e-01 7.12498571e-02 5.22632861e+01] [-1.92718990e-01 9.81154705e-01 -1.39583220e-02 -5.03058938e+00] [-7.26042127e-02 -7.20853870e-05 9.97360829e-01 -5.38904911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.277719421 meters 0.05330598387713327 Centerline is valid? [True, True] Translation: X:52.29, Y:-5.03, Z:-5.39 [[ 9.77859792e-01 1.97419208e-01 6.93965659e-02 5.22945854e+01] [-1.96949347e-01 9.80319097e-01 -1.36169856e-02 -5.03010168e+00] [-7.07190334e-02 -3.52105602e-04 9.97496213e-01 -5.39490397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.307719421 meters 0.05487353795716308 Centerline is valid? [True, True] Translation: X:52.33, Y:-5.03, Z:-5.40 [[ 9.76559542e-01 2.04944356e-01 6.57972103e-02 5.23263929e+01] [-2.04537302e-01 9.78773279e-01 -1.29367940e-02 -5.02761055e+00] [-6.70518742e-02 -8.24434283e-04 9.97749150e-01 -5.40235341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.337719420999996 meters 0.05559641350067393 Centerline is valid? [True, True] Translation: X:52.36, Y:-5.03, Z:-5.41 [[ 9.75925761e-01 2.07983623e-01 6.56636977e-02 5.23570214e+01] [-2.07584789e-01 9.78131769e-01 -1.29149923e-02 -5.03009571e+00] [-6.69138557e-02 -1.02671112e-03 9.97758228e-01 -5.40658283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.367719421 meters 0.05638657480255425 Centerline is valid? [True, True] Translation: X:52.39, Y:-5.03, Z:-5.41 [[ 9.74985933e-01 2.11893106e-01 6.71099271e-02 5.23866350e+01] [-2.11485582e-01 9.77291955e-01 -1.32016293e-02 -5.02941821e+00] [-6.83833261e-02 -1.32137911e-03 9.97658245e-01 -5.40994108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.397719421 meters 0.05646676812039147 Centerline is valid? [True, True] Translation: X:52.42, Y:-5.03, Z:-5.41 [[ 9.74859847e-01 2.12119096e-01 6.82185360e-02 5.24150578e+01] [-2.11698809e-01 9.77242872e-01 -1.34157932e-02 -5.03195300e+00] [-6.95118240e-02 -1.36326477e-03 9.97580196e-01 -5.41153283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.427719421 meters 0.05660121555958445 Centerline is valid? [True, True] Translation: X:52.44, Y:-5.04, Z:-5.41 [[ 9.74927461e-01 2.11768118e-01 6.83425916e-02 5.24432125e+01] [-2.11345854e-01 9.77319012e-01 -1.34342497e-02 -5.03529070e+00] [-6.96374599e-02 -1.34650440e-03 9.97571457e-01 -5.41355662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.457719421 meters 0.05677840901329764 Centerline is valid? [True, True] Translation: X:52.47, Y:-5.04, Z:-5.42 [[ 9.75164154e-01 2.11062100e-01 6.71391316e-02 5.24700928e+01] [-2.10653305e-01 9.77471818e-01 -1.31920462e-02 -5.04296493e+00] [-6.84109500e-02 -1.27866934e-03 9.97656407e-01 -5.41784377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.487719421 meters 0.056228559874073984 Centerline is valid? [True, True] Translation: X:52.50, Y:-5.06, Z:-5.42 [[ 9.75788878e-01 2.08243499e-01 6.68633759e-02 5.24958056e+01] [-2.07831887e-01 9.78076415e-01 -1.31314133e-02 -5.05784198e+00] [-6.81320224e-02 -1.08285453e-03 9.97675726e-01 -5.42337922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.517719420999995 meters 0.055612600178677175 Centerline is valid? [True, True] Translation: X:52.52, Y:-5.07, Z:-5.43 [[ 9.76285765e-01 2.05877666e-01 6.69364673e-02 5.25237903e+01] [-2.05459936e-01 9.78577301e-01 -1.31408256e-02 -5.06696167e+00] [-6.82079100e-02 -9.23561227e-04 9.97670701e-01 -5.42753713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.547719421 meters 0.053969120323088975 Centerline is valid? [True, True] Translation: X:52.55, Y:-5.08, Z:-5.43 [[ 9.77184968e-01 2.00344492e-01 7.05097401e-02 5.25531879e+01] [-1.99866839e-01 9.79725349e-01 -1.38378967e-02 -5.07569067e+00] [-7.18525261e-02 -5.70374227e-04 9.97415104e-01 -5.42732533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.577719421 meters 0.05370356114834931 Centerline is valid? [True, True] Translation: X:52.58, Y:-5.08, Z:-5.43 [[ 9.77539769e-01 1.98362770e-01 7.11913692e-02 5.25821885e+01] [-1.97870620e-01 9.80128577e-01 -1.39710667e-02 -5.08306637e+00] [-7.25480349e-02 -4.29407019e-04 9.97364827e-01 -5.42929857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.607719421 meters 0.053496460909542666 Centerline is valid? [True, True] Translation: X:52.61, Y:-5.10, Z:-5.43 [[ 9.78476924e-01 1.94132765e-01 6.99669799e-02 5.26117611e+01] [-1.93647097e-01 9.80975257e-01 -1.37239456e-02 -5.09681240e+00] [-7.13001437e-02 -1.20338493e-04 9.97454899e-01 -5.43259878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.637719421 meters 0.05342928943315515 Centerline is valid? [True, True] Translation: X:52.64, Y:-5.11, Z:-5.43 [[ 9.79114198e-01 1.91426983e-01 6.84915792e-02 5.26425252e+01] [-1.90953684e-01 9.81506852e-01 -1.34532219e-02 -5.10748343e+00] [-6.98002640e-02 9.35211531e-05 9.97560983e-01 -5.43449310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.667719421 meters 0.05382358128601765 Centerline is valid? [True, True] Translation: X:52.67, Y:-5.12, Z:-5.44 [[ 9.80276292e-01 1.84967560e-01 6.96088595e-02 5.26722807e+01] [-1.84460608e-01 9.82744451e-01 -1.36977138e-02 -5.12041201e+00] [-7.09413531e-02 5.87451533e-04 9.97480315e-01 -5.43831784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.697719420999995 meters 0.0546409053070943 Centerline is valid? [True, True] Translation: X:52.70, Y:-5.13, Z:-5.44 [[ 9.80770075e-01 1.82094512e-01 7.02256929e-02 5.27019153e+01] [-1.81569906e-01 9.83280691e-01 -1.38366382e-02 -5.12900162e+00] [-7.15711437e-02 8.19688248e-04 9.97435161e-01 -5.44483251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.727719420999996 meters 0.054602785027727876 Centerline is valid? [True, True] Translation: X:52.73, Y:-5.13, Z:-5.44 [[ 9.81461838e-01 1.78515196e-01 6.97494436e-02 5.27339783e+01] [-1.77988174e-01 9.83936562e-01 -1.37496146e-02 -5.13298350e+00] [-7.10835428e-02 1.08014596e-03 9.97469781e-01 -5.44302300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.757719421 meters 0.05533518936981809 Centerline is valid? [True, True] Translation: X:52.76, Y:-5.14, Z:-5.45 [[ 9.81722577e-01 1.77244037e-01 6.93205043e-02 5.27646550e+01] [-1.76718794e-01 9.84166218e-01 -1.36866307e-02 -5.13954087e+00] [-7.06487722e-02 1.18623850e-03 9.97500548e-01 -5.44767765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.787719421 meters 0.05525555031507837 Centerline is valid? [True, True] Translation: X:52.80, Y:-5.15, Z:-5.45 [[ 9.82052807e-01 1.74856176e-01 7.06937139e-02 5.27971437e+01] [-1.74302405e-01 9.84592987e-01 -1.39757689e-02 -5.14599597e+00] [-7.20482844e-02 1.40285875e-03 9.97400159e-01 -5.44817398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.817719421 meters 0.05579814070702921 Centerline is valid? [True, True] Translation: X:52.83, Y:-5.15, Z:-5.45 [[ 9.81986960e-01 1.75013503e-01 7.12171569e-02 5.28276913e+01] [-1.74449888e-01 9.84564996e-01 -1.41068938e-02 -5.14964701e+00] [-7.25868168e-02 1.42896067e-03 9.97361074e-01 -5.45377996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.847719421 meters 0.05509068916588788 Centerline is valid? [True, True] Translation: X:52.86, Y:-5.15, Z:-5.45 [[ 9.81978793e-01 1.75256891e-01 7.07295767e-02 5.28603530e+01] [-1.74700242e-01 9.84521714e-01 -1.40292486e-02 -5.15223105e+00] [-7.20935266e-02 1.41995046e-03 9.97396865e-01 -5.45390050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.877719421 meters 0.05525122710872759 Centerline is valid? [True, True] Translation: X:52.89, Y:-5.16, Z:-5.46 [[ 9.81974878e-01 1.75520419e-01 7.01278885e-02 5.28917078e+01] [-1.74972285e-01 9.84474780e-01 -1.39322235e-02 -5.15588549e+00] [-7.14845273e-02 1.41065659e-03 9.97440711e-01 -5.45791682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.907719420999996 meters 0.05537962875831049 Centerline is valid? [True, True] Translation: X:52.92, Y:-5.16, Z:-5.46 [[ 9.81860861e-01 1.76614864e-01 6.89669489e-02 5.29224292e+01] [-1.76086083e-01 9.84279140e-01 -1.37209680e-02 -5.16150035e+00] [-7.03060561e-02 1.32796151e-03 9.97524584e-01 -5.46277518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.937719421 meters 0.05529082657439565 Centerline is valid? [True, True] Translation: X:52.95, Y:-5.16, Z:-5.47 [[ 9.81006906e-01 1.81674669e-01 6.79688494e-02 5.29525529e+01] [-1.81171660e-01 9.83358209e-01 -1.35448521e-02 -5.16380897e+00] [-6.92984825e-02 9.73564238e-04 9.97595495e-01 -5.47250221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.967719421 meters 0.052981163505538595 Centerline is valid? [True, True] Translation: X:52.99, Y:-5.15, Z:-5.47 [[ 9.78716646e-01 1.92682377e-01 7.06203052e-02 5.29866350e+01] [-1.92166590e-01 9.81261154e-01 -1.40907251e-02 -5.15179275e+00] [-7.20119966e-02 2.19963975e-04 9.97403742e-01 -5.47022349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.997719421 meters 0.05311231387937265 Centerline is valid? [True, True] Translation: X:53.02, Y:-5.15, Z:-5.47 [[ 9.77403932e-01 1.99123460e-01 7.09323733e-02 5.30178760e+01] [-1.98619769e-01 9.79974379e-01 -1.41563811e-02 -5.14729364e+00] [-7.23307761e-02 -2.52069038e-04 9.97380667e-01 -5.47346517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.027719421 meters 0.053747162510484094 Centerline is valid? [True, True] Translation: X:53.05, Y:-5.14, Z:-5.48 [[ 9.76082006e-01 2.05211673e-01 7.17780431e-02 5.30475396e+01] [-2.04712396e-01 9.78717355e-01 -1.43238829e-02 -5.14316486e+00] [-7.31898445e-02 -7.12570839e-04 9.97317772e-01 -5.47515473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.057719421 meters 0.05771449352350071 Centerline is valid? [True, True] Translation: X:53.08, Y:-5.13, Z:-5.48 [[ 9.74036050e-01 2.15009141e-01 7.08861279e-02 5.30776703e+01] [-2.14548639e-01 9.76610978e-01 -1.41378708e-02 -5.13186363e+00] [-7.22679421e-02 -1.43772641e-03 9.97384218e-01 -5.48374462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.087719420999996 meters 0.05666421210037501 Centerline is valid? [True, True] Translation: X:53.11, Y:-5.14, Z:-5.48 [[ 9.73390924e-01 2.18542298e-01 6.89156973e-02 5.31065415e+01] [-2.18116266e-01 9.75826069e-01 -1.37396617e-02 -5.13966503e+00] [-7.02524312e-02 -1.65757255e-03 9.97527868e-01 -5.48056598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.117719421 meters 0.05976825408914407 Centerline is valid? [True, True] Translation: X:53.14, Y:-5.14, Z:-5.49 [[ 9.72327643e-01 2.23910683e-01 6.66555440e-02 5.31359961e+01] [-2.23525306e-01 9.74607645e-01 -1.32806659e-02 -5.13835606e+00] [-6.79366857e-02 -1.98604233e-03 9.97687658e-01 -5.48995214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.147719421 meters 0.06125544633773909 Centerline is valid? [True, True] Translation: X:53.16, Y:-5.14, Z:-5.49 [[ 9.71864115e-01 2.25927686e-01 6.66094789e-02 5.31632749e+01] [-2.25547422e-01 9.74141762e-01 -1.32736137e-02 -5.13946448e+00] [-6.78859520e-02 -2.12344740e-03 9.97690828e-01 -5.49498590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.177719421 meters 0.061912195431419695 Centerline is valid? [True, True] Translation: X:53.19, Y:-5.14, Z:-5.50 [[ 9.71002033e-01 2.29793275e-01 6.59553087e-02 5.31935454e+01] [-2.29430113e-01 9.73236549e-01 -1.31317376e-02 -5.13869067e+00] [-6.72077021e-02 -2.38119007e-03 9.97736165e-01 -5.49604144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.207719421 meters 0.06155882144210504 Centerline is valid? [True, True] Translation: X:53.22, Y:-5.15, Z:-5.50 [[ 9.70526825e-01 2.31380968e-01 6.73834568e-02 5.32218946e+01] [-2.31005819e-01 9.72859888e-01 -1.34145453e-02 -5.14566211e+00] [-6.86585327e-02 -2.54679460e-03 9.97636968e-01 -5.49587590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.237719421 meters 0.060893198294207994 Centerline is valid? [True, True] Translation: X:53.25, Y:-5.16, Z:-5.50 [[ 9.70699494e-01 2.30050631e-01 6.94204580e-02 5.32492848e+01] [-2.29649526e-01 9.73175363e-01 -1.38133339e-02 -5.15524422e+00] [-7.07360456e-02 -2.53377905e-03 9.97491851e-01 -5.49684352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.267719420999995 meters 0.0584848920946492 Centerline is valid? [True, True] Translation: X:53.28, Y:-5.17, Z:-5.50 [[ 9.72063734e-01 2.23485563e-01 7.17377126e-02 5.32755837e+01] [-2.23039985e-01 9.74704906e-01 -1.42657661e-02 -5.17247216e+00] [-7.31112932e-02 -2.13314447e-03 9.97321507e-01 -5.49821095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.297719421 meters 0.057639693680157734 Centerline is valid? [True, True] Translation: X:53.30, Y:-5.18, Z:-5.50 [[ 9.73142192e-01 2.18938242e-01 7.11359366e-02 5.33016123e+01] [-2.18487984e-01 9.75737101e-01 -1.41460067e-02 -5.18309125e+00] [-7.25070744e-02 -1.77627145e-03 9.97366316e-01 -5.50457743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.327719421 meters 0.055529541993594736 Centerline is valid? [True, True] Translation: X:53.33, Y:-5.20, Z:-5.51 [[ 9.74412568e-01 2.13345071e-01 7.07391617e-02 5.33277744e+01] [-2.12885658e-01 9.76975963e-01 -1.40593317e-02 -5.19888626e+00] [-7.21099497e-02 -1.35976345e-03 9.97395762e-01 -5.50580820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.357719421 meters 0.05312982143863342 Centerline is valid? [True, True] Translation: X:53.35, Y:-5.22, Z:-5.51 [[ 9.76321010e-01 2.03577216e-01 7.31683124e-02 5.33548959e+01] [-2.03058980e-01 9.79058665e-01 -1.45320855e-02 -5.22161538e+00] [-7.45944717e-02 -6.69502556e-04 9.97213727e-01 -5.50784193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.387719421 meters 0.05287897335637305 Centerline is valid? [True, True] Translation: X:53.38, Y:-5.24, Z:-5.51 [[ 9.77698772e-01 1.97384511e-01 7.17249273e-02 5.33834833e+01] [-1.96870429e-01 9.80326127e-01 -1.42379554e-02 -5.23901064e+00] [-7.31241720e-02 -2.00085695e-04 9.97322824e-01 -5.51243507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.417719421 meters 0.052976899924197185 Centerline is valid? [True, True] Translation: X:53.41, Y:-5.25, Z:-5.52 [[ 9.78416148e-01 1.94525720e-01 6.97250708e-02 5.34138861e+01] [-1.94031037e-01 9.80897417e-01 -1.38641126e-02 -5.25084349e+00] [-7.10900684e-02 3.60438266e-05 9.97469900e-01 -5.51745488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.447719420999995 meters 0.05344923449591801 Centerline is valid? [True, True] Translation: X:53.44, Y:-5.27, Z:-5.52 [[ 9.79689708e-01 1.88745196e-01 6.77002669e-02 5.34430318e+01] [-1.88263601e-01 9.82025986e-01 -1.34825858e-02 -5.26757722e+00] [-6.90281946e-02 4.63254515e-04 9.97614602e-01 -5.52313729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.477719420999996 meters 0.05344923449591801 Centerline is valid? [True, True] Translation: X:53.47, Y:-5.27, Z:-5.53 [[ 9.79623207e-01 1.89091373e-01 6.76965637e-02 5.34747166e+01] [-1.88609321e-01 9.81959390e-01 -1.35011482e-02 -5.27417634e+00] [-6.90282271e-02 4.57835199e-04 9.97614602e-01 -5.52646903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.507719421 meters 0.053933263866763274 Centerline is valid? [True, True] Translation: X:53.50, Y:-5.29, Z:-5.53 [[ 9.80193642e-01 1.86061244e-01 6.78353748e-02 5.35039687e+01] [-1.85567789e-01 9.82537897e-01 -1.35601287e-02 -5.28578602e+00] [-6.91738409e-02 7.03491387e-04 9.97604373e-01 -5.53001038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.537719421 meters 0.054378267486898245 Centerline is valid? [True, True] Translation: X:53.53, Y:-5.30, Z:-5.53 [[ 9.81099428e-01 1.80655828e-01 6.93353080e-02 5.35349152e+01] [-1.80126224e-01 9.83545741e-01 -1.38679032e-02 -5.29783310e+00] [-7.06997644e-02 1.11668469e-03 9.97497016e-01 -5.52957036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.567719421 meters 0.05472095715502015 Centerline is valid? [True, True] Translation: X:53.56, Y:-5.31, Z:-5.53 [[ 9.81278067e-01 1.80014236e-01 6.84706451e-02 5.35646604e+01] [-1.79494667e-01 9.83663309e-01 -1.37170961e-02 -5.30521917e+00] [-6.98213339e-02 1.17016993e-03 9.97558826e-01 -5.53377850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.597719421 meters 0.055153811470072533 Centerline is valid? [True, True] Translation: X:53.60, Y:-5.31, Z:-5.54 [[ 9.81530802e-01 1.78867860e-01 6.78496344e-02 5.35958700e+01] [-1.78353657e-01 9.83872301e-01 -1.36113467e-02 -5.31219043e+00] [-6.91900083e-02 1.25872569e-03 9.97602706e-01 -5.53806801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.627719421 meters 0.05569839582146937 Centerline is valid? [True, True] Translation: X:53.63, Y:-5.32, Z:-5.54 [[ 9.81677707e-01 1.78510579e-01 6.66547276e-02 5.36260120e+01] [-1.78012096e-01 9.83937158e-01 -1.33926749e-02 -5.31840554e+00] [-6.79747974e-02 1.28194261e-03 9.97686215e-01 -5.54392594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.657719420999996 meters 0.055789054944333734 Centerline is valid? [True, True] Translation: X:53.66, Y:-5.32, Z:-5.55 [[ 9.81742046e-01 1.78650241e-01 6.53195672e-02 5.36572222e+01] [-1.78170661e-01 9.83911832e-01 -1.31424038e-02 -5.32220730e+00] [-6.66165887e-02 1.26441992e-03 9.97777847e-01 -5.54937123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.687719421 meters 0.05571550944746969 Centerline is valid? [True, True] Translation: X:53.69, Y:-5.33, Z:-5.55 [[ 9.81948589e-01 1.77125694e-01 6.63585468e-02 5.36898802e+01] [-1.76626092e-01 9.84187233e-01 -1.33683564e-02 -5.32672286e+00] [-6.76771140e-02 1.40638793e-03 9.97706285e-01 -5.54979062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.717719421 meters 0.05576881857910764 Centerline is valid? [True, True] Translation: X:53.72, Y:-5.33, Z:-5.55 [[ 9.82045193e-01 1.76384877e-01 6.69000357e-02 5.37227530e+01] [-1.75873681e-01 9.84320143e-01 -1.35020079e-02 -5.33081147e+00] [-6.82326028e-02 1.49362641e-03 9.97668322e-01 -5.55197181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.747719421 meters 0.05655594887497624 Centerline is valid? [True, True] Translation: X:53.75, Y:-5.33, Z:-5.56 [[ 9.82390646e-01 1.74317465e-01 6.72461122e-02 5.37547442e+01] [-1.73794334e-01 9.84688086e-01 -1.35978664e-02 -5.33442888e+00] [-6.85867912e-02 1.67142345e-03 9.97643753e-01 -5.55576748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.777719421 meters 0.05864389186131611 Centerline is valid? [True, True] Translation: X:53.78, Y:-5.35, Z:-5.56 [[ 9.82668065e-01 1.72898343e-01 6.68553492e-02 5.37836456e+01] [-1.72376247e-01 9.84938056e-01 -1.35445362e-02 -5.34522724e+00] [-6.81902056e-02 1.78550899e-03 9.97670741e-01 -5.56381112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.807719421 meters 0.05768679786852297 Centerline is valid? [True, True] Translation: X:53.82, Y:-5.35, Z:-5.56 [[ 9.83030682e-01 1.71155030e-01 6.60048028e-02 5.38163047e+01] [-1.70641852e-01 9.85242301e-01 -1.33778189e-02 -5.34944855e+00] [-6.73204048e-02 1.88762463e-03 9.97729623e-01 -5.56266576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.837719420999996 meters 0.057813206330322504 Centerline is valid? [True, True] Translation: X:53.85, Y:-5.35, Z:-5.57 [[ 9.82919091e-01 1.71329792e-01 6.72024018e-02 5.38467774e+01] [-1.70796668e-01 9.85211840e-01 -1.36428816e-02 -5.35361734e+00] [-6.85460340e-02 1.93190254e-03 9.97646084e-01 -5.56537829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.867719421 meters 0.05729758619866041 Centerline is valid? [True, True] Translation: X:53.88, Y:-5.35, Z:-5.57 [[ 9.82519235e-01 1.72698384e-01 6.95069832e-02 5.38786267e+01] [-1.72129347e-01 9.84972867e-01 -1.41399823e-02 -5.34969800e+00] [-7.09044446e-02 1.92861297e-03 9.97481248e-01 -5.56713783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.897719421 meters 0.05590211480822627 Centerline is valid? [True, True] Translation: X:53.91, Y:-5.35, Z:-5.57 [[ 9.82112798e-01 1.74914845e-01 6.97083129e-02 5.39113391e+01] [-1.74348602e-01 9.84581981e-01 -1.41735155e-02 -5.34966349e+00] [-7.11127071e-02 1.76644409e-03 9.97466723e-01 -5.56827662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.927719421 meters 0.05518688347227851 Centerline is valid? [True, True] Translation: X:53.94, Y:-5.35, Z:-5.57 [[ 9.81491854e-01 1.77774348e-01 7.12040855e-02 5.39425218e+01] [-1.77188760e-01 9.84069939e-01 -1.45085331e-02 -5.35028720e+00] [-7.26490451e-02 1.62344338e-03 9.97356246e-01 -5.57135810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.957719421 meters 0.054961186585022324 Centerline is valid? [True, True] Translation: X:53.97, Y:-5.35, Z:-5.57 [[ 9.81230029e-01 1.78910392e-01 7.19632016e-02 5.39736145e+01] [-1.78315533e-01 9.83864148e-01 -1.46597846e-02 -5.35346414e+00] [-7.34248018e-02 1.55246425e-03 9.97299548e-01 -5.57392351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.987719421 meters 0.05444008367603621 Centerline is valid? [True, True] Translation: X:54.01, Y:-5.35, Z:-5.58 [[ 9.80988502e-01 1.79570123e-01 7.35943676e-02 5.40066892e+01] [-1.78948241e-01 9.83743943e-01 -1.50127420e-02 -5.35254719e+00] [-7.50938533e-02 1.55774461e-03 9.97175254e-01 -5.57545850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.017719420999995 meters 0.053760552553394084 Centerline is valid? [True, True] Translation: X:54.04, Y:-5.35, Z:-5.58 [[ 9.80699425e-01 1.80960764e-01 7.40394500e-02 5.40392951e+01] [-1.80333569e-01 9.83489199e-01 -1.51261191e-02 -5.35290494e+00] [-7.55542334e-02 1.48237805e-03 9.97140592e-01 -5.57795568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.047719421 meters 0.05366077032015936 Centerline is valid? [True, True] Translation: X:54.07, Y:-5.35, Z:-5.58 [[ 9.80431148e-01 1.83312275e-01 7.17730775e-02 5.40703846e+01] [-1.82727231e-01 9.83053890e-01 -1.46904232e-02 -5.35087652e+00] [-7.32497380e-02 1.28805283e-03 9.97312798e-01 -5.58487586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.077719421 meters 0.054130256801396305 Centerline is valid? [True, True] Translation: X:54.10, Y:-5.36, Z:-5.59 [[ 9.80664586e-01 1.82188804e-01 7.14437550e-02 5.41006807e+01] [-1.81605486e-01 9.83262605e-01 -1.46320568e-02 -5.35833402e+00] [-7.29137696e-02 1.37456203e-03 9.97337301e-01 -5.58958916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.107719421 meters 0.05591302907944247 Centerline is valid? [True, True] Translation: X:54.13, Y:-5.37, Z:-5.59 [[ 9.81989804e-01 1.74633651e-01 7.21048730e-02 5.41298412e+01] [-1.74018833e-01 9.84631533e-01 -1.47712628e-02 -5.36945566e+00] [-7.35762912e-02 1.95762363e-03 9.97287670e-01 -5.59178781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.137719421 meters 0.05730649221323286 Centerline is valid? [True, True] Translation: X:54.16, Y:-5.38, Z:-5.59 [[ 9.82851299e-01 1.69521045e-01 7.25667987e-02 5.41611037e+01] [-1.68884819e-01 9.85523766e-01 -1.48601712e-02 -5.37514840e+00] [-7.40354165e-02 2.34990795e-03 9.97252844e-01 -5.59441755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.167719421 meters 0.06276901760117959 Centerline is valid? [True, True] Translation: X:54.19, Y:-5.39, Z:-5.60 [[ 9.84387903e-01 1.59786797e-01 7.38148777e-02 5.41887692e+01] [-1.59098964e-01 9.87146478e-01 -1.51443526e-02 -5.38525178e+00] [-7.52859641e-02 3.16404691e-03 9.97156965e-01 -5.59798517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.197719420999995 meters 0.06353292891821044 Centerline is valid? [True, True] Translation: X:54.22, Y:-5.39, Z:-5.60 [[ 9.84769513e-01 1.56697381e-01 7.53321777e-02 5.42194508e+01] [-1.55972298e-01 9.87640583e-01 -1.54506115e-02 -5.39331254e+00] [-7.68221862e-02 3.46555827e-03 9.97038786e-01 -5.59919840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.227719420999996 meters 0.06597967767461345 Centerline is valid? [True, True] Translation: X:54.25, Y:-5.40, Z:-5.60 [[ 9.85327396e-01 1.52287355e-01 7.70615603e-02 5.42473534e+01] [-1.51512851e-01 9.88328464e-01 -1.58336343e-02 -5.40483502e+00] [-7.85733958e-02 3.92549690e-03 9.96900603e-01 -5.60034453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.257719421 meters 0.06722827272936927 Centerline is valid? [True, True] Translation: X:54.28, Y:-5.41, Z:-5.60 [[ 9.85492526e-01 1.50863125e-01 7.77482986e-02 5.42779326e+01] [-1.50070584e-01 9.88546275e-01 -1.59712972e-02 -5.41279195e+00] [-7.92672708e-02 4.07186146e-03 9.96845083e-01 -5.60414949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.287719421 meters 0.06722531976878927 Centerline is valid? [True, True] Translation: X:54.31, Y:-5.41, Z:-5.61 [[ 9.85966239e-01 1.47813532e-01 7.75998379e-02 5.43096975e+01] [-1.47013478e-01 9.89005800e-01 -1.59551086e-02 -5.41314787e+00] [-7.91050707e-02 4.32297634e-03 9.96856910e-01 -5.60643896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.317719421 meters 0.0676555373756682 Centerline is valid? [True, True] Translation: X:54.34, Y:-5.41, Z:-5.61 [[ 9.86303065e-01 1.47472122e-01 7.38798766e-02 5.43428641e+01] [-1.46745996e-01 9.89057538e-01 -1.51920795e-02 -5.41051223e+00] [-7.53118571e-02 4.14241851e-03 9.97151425e-01 -5.61313581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.347719421 meters 0.068676209745698 Centerline is valid? [True, True] Translation: X:54.37, Y:-5.41, Z:-5.62 [[ 9.86354815e-01 1.48268187e-01 7.15592291e-02 5.43731376e+01] [-1.47588861e-01 9.88939276e-01 -1.47185724e-02 -5.41399821e+00] [-7.29500282e-02 3.95638969e-03 9.97327750e-01 -5.62048972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.377719421 meters 0.06925834620011037 Centerline is valid? [True, True] Translation: X:54.40, Y:-5.42, Z:-5.63 [[ 9.86549442e-01 1.48081252e-01 6.92252968e-02 5.44041084e+01] [-1.47444618e-01 9.88967715e-01 -1.42458362e-02 -5.41825466e+00] [-7.05711248e-02 3.84732435e-03 9.97499331e-01 -5.62752197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.407719420999996 meters 0.06717356384048298 Centerline is valid? [True, True] Translation: X:54.44, Y:-5.42, Z:-5.63 [[ 9.86642611e-01 1.48338377e-01 6.73207554e-02 5.44366481e+01] [-1.47735820e-01 9.88929595e-01 -1.38702573e-02 -5.42032429e+00] [-6.86329788e-02 3.73929988e-03 9.97634969e-01 -5.63172701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.437719421 meters 0.06869291641809634 Centerline is valid? [True, True] Translation: X:54.47, Y:-5.42, Z:-5.64 [[ 9.86091755e-01 1.51790584e-01 6.76954098e-02 5.44660537e+01] [-1.51187442e-01 9.88406314e-01 -1.39755668e-02 -5.42197948e+00] [-6.90319299e-02 3.54649541e-03 9.97608147e-01 -5.63717300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.467719421 meters 0.06565060791044304 Centerline is valid? [True, True] Translation: X:54.50, Y:-5.42, Z:-5.64 [[ 9.85580275e-01 1.54447553e-01 6.91192844e-02 5.44991072e+01] [-1.53824692e-01 9.87995003e-01 -1.42771808e-02 -5.41644480e+00] [-7.04945833e-02 3.43905507e-03 9.97506234e-01 -5.63617428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.497719421 meters 0.06251197259136385 Centerline is valid? [True, True] Translation: X:54.53, Y:-5.40, Z:-5.64 [[ 9.84116354e-01 1.62462911e-01 7.15597961e-02 5.45316288e+01] [-1.61816080e-01 9.86710182e-01 -1.47842475e-02 -5.40480750e+00] [-7.30106713e-02 2.96989410e-03 9.97326738e-01 -5.63907690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.527719421 meters 0.05804028922549491 Centerline is valid? [True, True] Translation: X:54.56, Y:-5.40, Z:-5.64 [[ 9.83345965e-01 1.67723433e-01 6.99968762e-02 5.45633501e+01] [-1.67117948e-01 9.85830863e-01 -1.44603248e-02 -5.39698409e+00] [-7.14304162e-02 2.52176771e-03 9.97442398e-01 -5.63968162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.557719421 meters 0.05634471137957004 Centerline is valid? [True, True] Translation: X:54.59, Y:-5.39, Z:-5.65 [[ 9.82062005e-01 1.76282663e-01 6.69226445e-02 5.45936436e+01] [-1.75749260e-01 9.84337918e-01 -1.38224943e-02 -5.39077046e+00] [-6.83111626e-02 1.81294116e-03 9.97662417e-01 -5.64984577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.587719420999996 meters 0.05534864958103994 Centerline is valid? [True, True] Translation: X:54.62, Y:-5.39, Z:-5.65 [[ 9.81417012e-01 1.79573904e-01 6.76303271e-02 5.46234547e+01] [-1.79037102e-01 9.83743187e-01 -1.39663292e-02 -5.39093958e+00] [-6.90388618e-02 1.59845528e-03 9.97612691e-01 -5.65300000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.617719421 meters 0.054283241813624504 Centerline is valid? [True, True] Translation: X:54.65, Y:-5.39, Z:-5.65 [[ 9.80740592e-01 1.82349432e-01 6.99755401e-02 5.46544837e+01] [-1.81782084e-01 9.83232724e-01 -1.44459081e-02 -5.39081062e+00] [-7.14364440e-02 1.44738896e-03 9.97444103e-01 -5.65349871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.647719421 meters 0.05232796073945969 Centerline is valid? [True, True] Translation: X:54.69, Y:-5.38, Z:-5.65 [[ 9.79470910e-01 1.88371579e-01 7.17835895e-02 5.46873573e+01] [-1.87791008e-01 9.82097291e-01 -1.48138011e-02 -5.38113176e+00] [-7.32889679e-02 1.02937458e-03 9.97310216e-01 -5.65157198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.677719421 meters 0.05146673059635011 Centerline is valid? [True, True] Translation: X:54.72, Y:-5.38, Z:-5.65 [[ 9.78104706e-01 1.94683413e-01 7.35496611e-02 5.47177329e+01] [-1.94091667e-01 9.80865966e-01 -1.51783334e-02 -5.37586728e+00] [-7.50973291e-02 5.70623078e-04 9.97176045e-01 -5.65273037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.707719421 meters 0.05136716272660738 Centerline is valid? [True, True] Translation: X:54.75, Y:-5.38, Z:-5.66 [[ 9.77424316e-01 1.97801219e-01 7.42723710e-02 5.47455971e+01] [-1.97207203e-01 9.80242097e-01 -1.53215292e-02 -5.37659393e+00] [-7.58355219e-02 3.28588601e-04 9.97120286e-01 -5.65579014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.737719421 meters 0.051880713814538924 Centerline is valid? [True, True] Translation: X:54.78, Y:-5.37, Z:-5.66 [[ 9.76230712e-01 2.04250577e-01 7.24934323e-02 5.47755263e+01] [-2.03702612e-01 9.78918624e-01 -1.49523579e-02 -5.37247764e+00] [-7.40191988e-02 -1.70150586e-04 9.97256802e-01 -5.66181881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.767719420999995 meters 0.05232668874837117 Centerline is valid? [True, True] Translation: X:54.80, Y:-5.37, Z:-5.67 [[ 9.75843575e-01 2.06417259e-01 7.15627864e-02 5.48031767e+01] [-2.05891038e-01 9.78463994e-01 -1.47340454e-02 -5.37415117e+00] [-7.30629711e-02 -3.56012818e-04 9.97327266e-01 -5.66613971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.797719421 meters 0.05301689441865477 Centerline is valid? [True, True] Translation: X:54.83, Y:-5.37, Z:-5.67 [[ 9.74872728e-01 2.10818281e-01 7.19639972e-02 5.48313893e+01] [-2.10298663e-01 9.77525021e-01 -1.48089859e-02 -5.37423566e+00] [-7.34686128e-02 -6.97055896e-04 9.97297286e-01 -5.66914552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.827719421 meters 0.05324542404757387 Centerline is valid? [True, True] Translation: X:54.86, Y:-5.38, Z:-5.67 [[ 9.74181121e-01 2.13337659e-01 7.38795392e-02 5.48584280e+01] [-2.12797807e-01 9.76978096e-01 -1.51951825e-02 -5.38019386e+00] [-7.54203962e-02 -9.18544061e-04 9.97151403e-01 -5.66968710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.857719421 meters 0.053151438548473186 Centerline is valid? [True, True] Translation: X:54.89, Y:-5.39, Z:-5.67 [[ 9.73765216e-01 2.14331160e-01 7.64425135e-02 5.48871000e+01] [-2.13756546e-01 9.76760505e-01 -1.57179877e-02 -5.38672241e+00] [-7.80348826e-02 -1.03445791e-03 9.96950093e-01 -5.67054324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.887719421 meters 0.053486547901719236 Centerline is valid? [True, True] Translation: X:54.91, Y:-5.39, Z:-5.67 [[ 9.73509074e-01 2.15264088e-01 7.70808415e-02 5.49131717e+01] [-2.14684465e-01 9.76555207e-01 -1.58274269e-02 -5.39263325e+00] [-7.86807738e-02 -1.13991554e-03 9.96899211e-01 -5.67272437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.917719421 meters 0.05363622183803124 Centerline is valid? [True, True] Translation: X:54.94, Y:-5.40, Z:-5.68 [[ 9.73690707e-01 2.14886789e-01 7.58292448e-02 5.49387817e+01] [-2.14326093e-01 9.76638336e-01 -1.55527219e-02 -5.40175741e+00] [-7.73998219e-02 -1.10864492e-03 9.96999518e-01 -5.67811719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.947719420999995 meters 0.05350001902097608 Centerline is valid? [True, True] Translation: X:54.97, Y:-5.41, Z:-5.68 [[ 9.73914107e-01 2.13716893e-01 7.62653344e-02 5.49665583e+01] [-2.13147003e-01 9.76895094e-01 -1.56310941e-02 -5.41077994e+00] [-7.78438599e-02 -1.03238442e-03 9.96965028e-01 -5.68065512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.977719420999996 meters 0.05242641208346374 Centerline is valid? [True, True] Translation: X:54.99, Y:-5.43, Z:-5.68 [[ 9.74697610e-01 2.09558238e-01 7.77811988e-02 5.49922600e+01] [-2.08954349e-01 9.77795887e-01 -1.59148820e-02 -5.42670759e+00] [-7.93892309e-02 -7.40522350e-04 9.96843419e-01 -5.68201928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.007719421 meters 0.05171201588821371 Centerline is valid? [True, True] Translation: X:55.02, Y:-5.44, Z:-5.68 [[ 9.75450365e-01 2.06155720e-01 7.74364565e-02 5.50182622e+01] [-2.05546943e-01 9.78519086e-01 -1.58383510e-02 -5.44056186e+00] [-7.90382173e-02 -4.67301668e-04 9.96871477e-01 -5.68442929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.037719421 meters 0.05199064705811416 Centerline is valid? [True, True] Translation: X:55.04, Y:-5.47, Z:-5.69 [[ 9.77474856e-01 1.96988896e-01 7.57514393e-02 5.50406819e+01] [-1.96379259e-01 9.80405684e-01 -1.54880915e-02 -5.46648528e+00] [-7.73181237e-02 2.63208418e-04 9.97006439e-01 -5.69361883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.067719421 meters 0.05252532225403932 Centerline is valid? [True, True] Translation: X:55.07, Y:-5.48, Z:-5.70 [[ 9.78498434e-01 1.91933681e-01 7.55134260e-02 5.50658756e+01] [-1.91313440e-01 9.81407681e-01 -1.54315251e-02 -5.48311842e+00] [-7.70712857e-02 6.52989812e-04 9.97025371e-01 -5.69760716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.097719421 meters 0.05481163112953406 Centerline is valid? [True, True] Translation: X:55.09, Y:-5.50, Z:-5.70 [[ 9.80322472e-01 1.83118690e-01 7.37251478e-02 5.50907482e+01] [-1.82503137e-01 9.83089943e-01 -1.50588436e-02 -5.50297028e+00] [-7.52360070e-02 1.30745206e-03 9.97164898e-01 -5.70223450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.127719421 meters 0.05744767318945156 Centerline is valid? [True, True] Translation: X:55.12, Y:-5.52, Z:-5.70 [[ 9.81924157e-01 1.74725995e-01 7.27720868e-02 5.51182602e+01] [-1.74103773e-01 9.84615227e-01 -1.48569938e-02 -5.51859798e+00] [-7.42484078e-02 1.91854624e-03 9.97237932e-01 -5.70304501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.157719420999996 meters 0.06068695964321419 Centerline is valid? [True, True] Translation: X:55.14, Y:-5.53, Z:-5.71 [[ 9.82643863e-01 1.70709427e-01 7.25901515e-02 5.51443260e+01] [-1.70079608e-01 9.85318929e-01 -1.48167049e-02 -5.53408341e+00] [-7.40538015e-02 2.21343969e-03 9.97251791e-01 -5.70969072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.187719421 meters 0.06509892985143241 Centerline is valid? [True, True] Translation: X:55.17, Y:-5.55, Z:-5.71 [[ 9.83730802e-01 1.63875276e-01 7.36111638e-02 5.51701287e+01] [-1.63208246e-01 9.86477178e-01 -1.50281705e-02 -5.55370081e+00] [-7.50784787e-02 2.76972526e-03 9.97173782e-01 -5.71422379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.217719421 meters 0.06705101990454633 Centerline is valid? [True, True] Translation: X:55.20, Y:-5.56, Z:-5.72 [[ 9.84243313e-01 1.61323917e-01 7.23857380e-02 5.51985186e+01] [-1.60672201e-01 9.86897213e-01 -1.47761779e-02 -5.56470978e+00] [-7.38210339e-02 2.91297844e-03 9.97267251e-01 -5.71883133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.247719421 meters 0.06938278655561698 Centerline is valid? [True, True] Translation: X:55.23, Y:-5.58, Z:-5.72 [[ 9.84783770e-01 1.58673041e-01 7.08787144e-02 5.52270210e+01] [-1.58041416e-01 9.87326485e-01 -1.44680178e-02 -5.57544702e+00] [-7.22761163e-02 3.04609679e-03 9.97380010e-01 -5.72395407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.277719421 meters 0.06919449314429181 Centerline is valid? [True, True] Translation: X:55.26, Y:-5.58, Z:-5.73 [[ 9.84703250e-01 1.59116481e-01 7.10032061e-02 5.52574897e+01] [-1.58483648e-01 9.87255196e-01 -1.44952393e-02 -5.57864917e+00] [-7.24047156e-02 3.02066210e-03 9.97370760e-01 -5.72636935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.307719421 meters 0.06287164973858131 Centerline is valid? [True, True] Translation: X:55.29, Y:-5.57, Z:-5.72 [[ 9.83489249e-01 1.66054620e-01 7.19358044e-02 5.52916775e+01] [-1.65423502e-01 9.86113277e-01 -1.46857187e-02 -5.56537145e+00] [-7.33754832e-02 2.54337376e-03 9.97301143e-01 -5.72478187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.337719420999996 meters 0.056143340625076074 Centerline is valid? [True, True] Translation: X:55.33, Y:-5.55, Z:-5.72 [[ 9.81546709e-01 1.76005061e-01 7.47547728e-02 5.53251485e+01] [-1.75352124e-01 9.84387482e-01 -1.52616231e-02 -5.55352635e+00] [-7.62737855e-02 1.87158776e-03 9.97085155e-01 -5.72087979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.367719421 meters 0.05411709902501342 Centerline is valid? [True, True] Translation: X:55.36, Y:-5.55, Z:-5.72 [[ 9.80397345e-01 1.81565746e-01 7.65174864e-02 5.53558670e+01] [-1.80898675e-01 9.83377708e-01 -1.56189950e-02 -5.55323283e+00] [-7.80814649e-02 1.47090935e-03 9.96945897e-01 -5.72202425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.397719421 meters 0.05411709902501342 Centerline is valid? [True, True] Translation: X:55.38, Y:-5.56, Z:-5.72 [[ 9.80411669e-01 1.81488378e-01 7.65175068e-02 5.53835059e+01] [-1.80821080e-01 9.83391980e-01 -1.56188953e-02 -5.55876233e+00] [-7.80813506e-02 1.47696894e-03 9.96945897e-01 -5.72492593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.427719421 meters 0.05204911004924704 Centerline is valid? [True, True] Translation: X:55.41, Y:-5.55, Z:-5.73 [[ 9.78473213e-01 1.92111127e-01 7.53889066e-02 5.54146865e+01] [-1.91495285e-01 9.81372986e-01 -1.53824162e-02 -5.54809788e+00] [-7.69397696e-02 6.14662026e-04 9.97035553e-01 -5.72929292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.457719421 meters 0.052007211839008145 Centerline is valid? [True, True] Translation: X:55.44, Y:-5.54, Z:-5.73 [[ 9.77520336e-01 1.97207585e-01 7.45865997e-02 5.54435060e+01] [-1.96620024e-01 9.80361732e-01 -1.52131586e-02 -5.54393751e+00] [-7.61219983e-02 2.05952875e-04 9.97098490e-01 -5.73476350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.487719421 meters 0.05232377248446444 Centerline is valid? [True, True] Translation: X:55.47, Y:-5.54, Z:-5.74 [[ 9.76960829e-01 2.00744362e-01 7.24516405e-02 5.54730811e+01] [-2.00200278e-01 9.79643657e-01 -1.47700150e-02 -5.54176931e+00] [-7.39417873e-02 -7.51124687e-05 9.97262556e-01 -5.73964669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.517719420999995 meters 0.052449255229839765 Centerline is valid? [True, True] Translation: X:55.50, Y:-5.54, Z:-5.74 [[ 9.75819418e-01 2.06365652e-01 7.20394431e-02 5.55026360e+01] [-2.05843289e-01 9.78474816e-01 -1.46824445e-02 -5.53917669e+00] [-7.35187330e-02 -5.01421462e-04 9.97293710e-01 -5.73955251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.547719421 meters 0.053657868476049746 Centerline is valid? [True, True] Translation: X:55.53, Y:-5.54, Z:-5.75 [[ 9.75121782e-01 2.09599524e-01 7.21494901e-02 5.55296965e+01] [-2.09085349e-01 9.77787024e-01 -1.46919515e-02 -5.53940195e+00] [-7.36262612e-02 -7.58959395e-04 9.97285615e-01 -5.74801721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.577719421 meters 0.05319610722180177 Centerline is valid? [True, True] Translation: X:55.56, Y:-5.55, Z:-5.75 [[ 9.74988458e-01 2.10348172e-01 7.17715361e-02 5.55574557e+01] [-2.09842025e-01 9.77626194e-01 -1.46064966e-02 -5.54567740e+00] [-7.32381836e-02 -8.19518884e-04 9.97314142e-01 -5.74810467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.607719421 meters 0.053784384675350995 Centerline is valid? [True, True] Translation: X:55.59, Y:-5.55, Z:-5.75 [[ 9.74484155e-01 2.12847063e-01 7.12513871e-02 5.55860985e+01] [-2.12355440e-01 9.77085008e-01 -1.44932352e-02 -5.54720250e+00] [-7.27035047e-02 -1.00719160e-03 9.97353090e-01 -5.75092818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.637719421 meters 0.05446151600406269 Centerline is valid? [True, True] Translation: X:55.61, Y:-5.55, Z:-5.75 [[ 9.74016836e-01 2.14924348e-01 7.14053800e-02 5.56144175e+01] [-2.14438185e-01 9.76629973e-01 -1.44969239e-02 -5.54924070e+00] [-7.28523762e-02 -1.19179206e-03 9.97342023e-01 -5.75319203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.667719421 meters 0.056559268656043 Centerline is valid? [True, True] Translation: X:55.64, Y:-5.55, Z:-5.76 [[ 9.72860035e-01 2.20756914e-01 6.93522654e-02 5.56441779e+01] [-2.20313766e-01 9.75327563e-01 -1.40708442e-02 -5.55043897e+00] [-7.07474122e-02 -1.59029679e-03 9.97492995e-01 -5.75738004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.697719420999995 meters 0.05764646935263987 Centerline is valid? [True, True] Translation: X:55.67, Y:-5.55, Z:-5.76 [[ 9.72249072e-01 2.23348828e-01 6.96207084e-02 5.56722940e+01] [-2.22908515e-01 9.74736954e-01 -1.41302680e-02 -5.55497533e+00] [-7.10178560e-02 -1.78090876e-03 9.97473455e-01 -5.76082232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.727719420999996 meters 0.06261024196562386 Centerline is valid? [True, True] Translation: X:55.70, Y:-5.55, Z:-5.77 [[ 9.70619375e-01 2.30177293e-01 7.01173450e-02 5.57020545e+01] [-2.29750543e-01 9.73145933e-01 -1.42014524e-02 -5.55313061e+00] [-7.15032610e-02 -2.32529319e-03 9.97437656e-01 -5.76791619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.757719421 meters 0.061824705866592056 Centerline is valid? [True, True] Translation: X:55.73, Y:-5.56, Z:-5.77 [[ 9.70062598e-01 2.32223395e-01 7.10693392e-02 5.57306438e+01] [-2.31789980e-01 9.72659255e-01 -1.44006353e-02 -5.55961487e+00] [-7.24704150e-02 -2.50364304e-03 9.97367420e-01 -5.76696471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.787719421 meters 0.06434319879657642 Centerline is valid? [True, True] Translation: X:55.76, Y:-5.56, Z:-5.77 [[ 9.69072622e-01 2.35861079e-01 7.25796459e-02 5.57600810e+01] [-2.35421307e-01 9.71782567e-01 -1.46782529e-02 -5.56033577e+00] [-7.39936632e-02 -2.86250210e-03 9.97254603e-01 -5.76846018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.817719421 meters 0.0652743650822442 Centerline is valid? [True, True] Translation: X:55.79, Y:-5.57, Z:-5.77 [[ 9.68881947e-01 2.36879424e-01 7.18046707e-02 5.57875484e+01] [-2.36451634e-01 9.71534709e-01 -1.45236049e-02 -5.56664655e+00] [-7.32010730e-02 -2.90667310e-03 9.97312967e-01 -5.77238023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.847719421 meters 0.06472512246077121 Centerline is valid? [True, True] Translation: X:55.81, Y:-5.58, Z:-5.77 [[ 9.69085871e-01 2.35814366e-01 7.25545225e-02 5.58132610e+01] [-2.35376581e-01 9.71793847e-01 -1.46487153e-02 -5.57952794e+00] [-7.39624160e-02 -2.88177244e-03 9.97256866e-01 -5.77420659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.877719421 meters 0.06463196063308173 Centerline is valid? [True, True] Translation: X:55.84, Y:-5.59, Z:-5.78 [[ 9.69193371e-01 2.34876865e-01 7.41422189e-02 5.58401386e+01] [-2.34417557e-01 9.72020867e-01 -1.49613986e-02 -5.58712414e+00] [-7.55818702e-02 -2.87974952e-03 9.97135441e-01 -5.77601613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.907719420999996 meters 0.060326633024285904 Centerline is valid? [True, True] Translation: X:55.87, Y:-5.61, Z:-5.78 [[ 9.69977542e-01 2.30996125e-01 7.60549740e-02 5.58671818e+01] [-2.30501657e-01 9.72951051e-01 -1.53374804e-02 -5.60777935e+00] [-7.75406654e-02 -2.65378599e-03 9.96985658e-01 -5.77517708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.937719421 meters 0.059821617556805554 Centerline is valid? [True, True] Translation: X:55.89, Y:-5.62, Z:-5.78 [[ 9.70879728e-01 2.28135065e-01 7.31228210e-02 5.58920641e+01] [-2.27669858e-01 9.73626706e-01 -1.47469950e-02 -5.62137256e+00] [-7.45586380e-02 -2.33030377e-03 9.97213908e-01 -5.78185911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.967719421 meters 0.059264555968284664 Centerline is valid? [True, True] Translation: X:55.91, Y:-5.64, Z:-5.79 [[ 9.72529520e-01 2.23202967e-01 6.60815209e-02 5.59148095e+01] [-2.22812136e-01 9.74770387e-01 -1.33208644e-02 -5.64363436e+00] [-6.73875662e-02 -1.76883090e-03 9.97725306e-01 -5.79206967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.997719421 meters 0.057691864093712575 Centerline is valid? [True, True] Translation: X:55.94, Y:-5.66, Z:-5.80 [[ 9.73828821e-01 2.17947632e-01 6.44690477e-02 5.59402385e+01] [-2.17564628e-01 9.75959493e-01 -1.29884859e-02 -5.66219038e+00] [-6.57499888e-02 -1.37762245e-03 9.97835177e-01 -5.79547771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.027719421 meters 0.05715303180422304 Centerline is valid? [True, True] Translation: X:55.97, Y:-5.67, Z:-5.80 [[ 9.74106753e-01 2.16496674e-01 6.51553823e-02 5.59675804e+01] [-2.16102590e-01 9.76282492e-01 -1.31212415e-02 -5.67245926e+00] [-6.64507641e-02 -1.29875691e-03 9.97788860e-01 -5.79689406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.057719421 meters 0.056165739761254 Centerline is valid? [True, True] Translation: X:55.99, Y:-5.69, Z:-5.79 [[ 9.73978921e-01 2.16118126e-01 6.82496703e-02 5.59944854e+01] [-2.15685229e-01 9.76366304e-01 -1.37376291e-02 -5.68913917e+00] [-6.96056290e-02 -1.34028460e-03 9.97573687e-01 -5.79437054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.087719420999996 meters 0.057105432520576094 Centerline is valid? [True, True] Translation: X:56.02, Y:-5.70, Z:-5.80 [[ 9.73779727e-01 2.16635417e-01 6.94416257e-02 5.60207737e+01] [-2.16188697e-01 9.76251569e-01 -1.39757033e-02 -5.69807605e+00] [-7.08201284e-02 -1.40323801e-03 9.97488115e-01 -5.79942764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.117719421 meters 0.05724203700056547 Centerline is valid? [True, True] Translation: X:56.05, Y:-5.71, Z:-5.80 [[ 9.73639166e-01 2.17271546e-01 6.94251310e-02 5.60470915e+01] [-2.16827573e-01 9.76110106e-01 -1.39594106e-02 -5.71313546e+00] [-7.07995547e-02 -1.46185380e-03 9.97489492e-01 -5.80107872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.147719421 meters 0.05637635409731508 Centerline is valid? [True, True] Translation: X:56.07, Y:-5.73, Z:-5.80 [[ 9.74239771e-01 2.15188706e-01 6.74587929e-02 5.60733429e+01] [-2.14764921e-01 9.76571650e-01 -1.35588271e-02 -5.72826583e+00] [-6.87960512e-02 -1.27823368e-03 9.97629926e-01 -5.80258159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.177719421 meters 0.056959230787766296 Centerline is valid? [True, True] Translation: X:56.10, Y:-5.74, Z:-5.81 [[ 9.74531269e-01 2.13616900e-01 6.82394815e-02 5.60994144e+01] [-2.13179680e-01 9.76916791e-01 -1.37115928e-02 -5.73675746e+00] [-6.95933232e-02 -1.18489489e-03 9.97574742e-01 -5.80907160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.207719421 meters 0.055683358167722276 Centerline is valid? [True, True] Translation: X:56.13, Y:-5.75, Z:-5.81 [[ 9.75389542e-01 2.10295777e-01 6.62640741e-02 5.61260131e+01] [-2.09876596e-01 9.77637366e-01 -1.33039261e-02 -5.75157667e+00] [-6.75799943e-02 -9.30767988e-04 9.97713425e-01 -5.81085917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.237719421 meters 0.05521314316738121 Centerline is valid? [True, True] Translation: X:56.15, Y:-5.77, Z:-5.82 [[ 9.76846041e-01 2.03393195e-01 6.63552541e-02 5.61491301e+01] [-2.02957262e-01 9.79097032e-01 -1.33173480e-02 -5.77267130e+00] [-6.76768903e-02 -4.58282021e-04 9.97707186e-01 -5.81824506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.267719420999995 meters 0.054094938921106936 Centerline is valid? [True, True] Translation: X:56.18, Y:-5.79, Z:-5.82 [[ 9.77668279e-01 1.99067442e-01 6.73564387e-02 5.61759937e+01] [-1.98608519e-01 9.79985778e-01 -1.35104056e-02 -5.78622449e+00] [-6.86978339e-02 -1.68867521e-04 9.97637499e-01 -5.81649869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.297719421 meters 0.053697750074279925 Centerline is valid? [True, True] Translation: X:56.20, Y:-5.80, Z:-5.82 [[ 9.79072388e-01 1.91668702e-01 6.84132062e-02 5.62045507e+01] [-1.91177801e-01 9.81459621e-01 -1.37135219e-02 -5.80260303e+00] [-6.97732524e-02 3.47444347e-04 9.97562816e-01 -5.81566289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.327719421 meters 0.05389658548671647 Centerline is valid? [True, True] Translation: X:56.23, Y:-5.81, Z:-5.82 [[ 9.79657885e-01 1.88450164e-01 6.89707517e-02 5.62337721e+01] [-1.87943190e-01 9.82082581e-01 -1.38260852e-02 -5.81387418e+00] [-7.03405019e-02 5.82250293e-04 9.97522869e-01 -5.81779770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.357719421 meters 0.05455233126443698 Centerline is valid? [True, True] Translation: X:56.26, Y:-5.83, Z:-5.82 [[ 9.80033105e-01 1.85516190e-01 7.15461789e-02 5.62625626e+01] [-1.84963027e-01 9.82640866e-01 -1.43389961e-02 -5.82797292e+00] [-7.29643151e-02 8.19293112e-04 9.97334216e-01 -5.82102247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.387719421 meters 0.05443610529899855 Centerline is valid? [True, True] Translation: X:56.29, Y:-5.84, Z:-5.82 [[ 9.80483814e-01 1.82683062e-01 7.26525234e-02 5.62943656e+01] [-1.82103535e-01 9.83171281e-01 -1.45785862e-02 -5.83995193e+00] [-7.40931352e-02 1.06378642e-03 9.97250759e-01 -5.82022326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.417719421 meters 0.054909050420359366 Centerline is valid? [True, True] Translation: X:56.33, Y:-5.85, Z:-5.83 [[ 9.80781924e-01 1.81822377e-01 7.07632740e-02 5.63255783e+01] [-1.81268668e-01 9.83330749e-01 -1.42235031e-02 -5.84754729e+00] [-7.21698544e-02 1.12299032e-03 9.97391724e-01 -5.82587561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.447719420999995 meters 0.05631295574961193 Centerline is valid? [True, True] Translation: X:56.36, Y:-5.85, Z:-5.83 [[ 9.81462353e-01 1.79470811e-01 6.72449072e-02 5.63550766e+01] [-1.78963500e-01 9.83762495e-01 -1.35432517e-02 -5.85453150e+00] [-6.85836360e-02 1.25780769e-03 9.97644577e-01 -5.83354026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.477719420999996 meters 0.05701734809842749 Centerline is valid? [True, True] Translation: X:56.39, Y:-5.86, Z:-5.84 [[ 9.81758669e-01 1.78334533e-01 6.59295891e-02 5.63857755e+01] [-1.77844867e-01 9.83969052e-01 -1.32705443e-02 -5.86324089e+00] [-6.72392716e-02 1.30323289e-03 9.97736028e-01 -5.83861752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.507719421 meters 0.05744330744385637 Centerline is valid? [True, True] Translation: X:56.42, Y:-5.88, Z:-5.84 [[ 9.81900870e-01 1.76751375e-01 6.80414052e-02 5.64167737e+01] [-1.76224574e-01 9.84254423e-01 -1.37160724e-02 -5.87502694e+00] [-6.93943887e-02 1.47725581e-03 9.97588210e-01 -5.83921162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.537719421 meters 0.055406737996031505 Centerline is valid? [True, True] Translation: X:56.45, Y:-5.88, Z:-5.83 [[ 9.81577904e-01 1.77211855e-01 7.14197232e-02 5.64494133e+01] [-1.76630539e-01 9.84171516e-01 -1.44249424e-02 -5.87844740e+00] [-7.28455281e-02 1.54430049e-03 9.97342040e-01 -5.83331374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.567719421 meters 0.05362623303864203 Centerline is valid? [True, True] Translation: X:56.48, Y:-5.87, Z:-5.83 [[ 9.80447075e-01 1.82409524e-01 7.38261445e-02 5.64827875e+01] [-1.81802687e-01 9.83221909e-01 -1.49151451e-02 -5.87465949e+00] [-7.53081472e-02 1.20171889e-03 9.97159585e-01 -5.83262899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.597719421 meters 0.052866354226385096 Centerline is valid? [True, True] Translation: X:56.52, Y:-5.87, Z:-5.84 [[ 9.79408859e-01 1.88421972e-01 7.24944594e-02 5.65158531e+01] [-1.87853190e-01 9.82087894e-01 -1.46474498e-02 -5.87234850e+00] [-7.39558323e-02 7.27526627e-04 9.97261252e-01 -5.83845387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.627719420999995 meters 0.05309072367230561 Centerline is valid? [True, True] Translation: X:56.55, Y:-5.86, Z:-5.85 [[ 9.77031276e-01 2.01961369e-01 6.79815463e-02 5.65482823e+01] [-2.01491899e-01 9.79393457e-01 -1.37648547e-02 -5.85860778e+00] [-6.93606505e-02 -2.49037262e-04 9.97591619e-01 -5.84777752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.657719420999996 meters 0.05394781311848437 Centerline is valid? [True, True] Translation: X:56.58, Y:-5.86, Z:-5.85 [[ 9.75863727e-01 2.08073701e-01 6.62972180e-02 5.65790287e+01] [-2.07641345e-01 9.78112923e-01 -1.34231735e-02 -5.85539830e+00] [-6.76391751e-02 -6.66855381e-04 9.97709626e-01 -5.85236546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.687719421 meters 0.058977805037806655 Centerline is valid? [True, True] Translation: X:56.61, Y:-5.84, Z:-5.87 [[ 9.73780780e-01 2.18242350e-01 6.41971141e-02 5.66108722e+01] [-2.17859219e-01 9.75893694e-01 -1.29945554e-02 -5.84032416e+00] [-6.54855212e-02 -1.33208490e-03 9.97852630e-01 -5.86674369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.717719421 meters 0.058314255912662774 Centerline is valid? [True, True] Translation: X:56.64, Y:-5.84, Z:-5.86 [[ 9.73032995e-01 2.21803170e-01 6.33256952e-02 5.66407121e+01] [-2.21437936e-01 9.75090226e-01 -1.28176259e-02 -5.84366392e+00] [-6.45912565e-02 -1.55073834e-03 9.97910600e-01 -5.86420178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.747719421 meters 0.06024559028344133 Centerline is valid? [True, True] Translation: X:56.67, Y:-5.84, Z:-5.87 [[ 9.71897599e-01 2.26252504e-01 6.49989393e-02 5.66686847e+01] [-2.25877614e-01 9.74066842e-01 -1.31563861e-02 -5.84221235e+00] [-6.62899769e-02 -1.89514529e-03 9.97798601e-01 -5.86714157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.777719421 meters 0.06058079158227107 Centerline is valid? [True, True] Translation: X:56.70, Y:-5.85, Z:-5.87 [[ 9.71702870e-01 2.27076868e-01 6.50356017e-02 5.66966417e+01] [-2.26704042e-01 9.73874862e-01 -1.31541007e-02 -5.84761313e+00] [-6.63235296e-02 -1.96195638e-03 9.97796242e-01 -5.86965652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.807719421 meters 0.06076375449703665 Centerline is valid? [True, True] Translation: X:56.73, Y:-5.86, Z:-5.87 [[ 9.71274073e-01 2.29199633e-01 6.39859643e-02 5.67253867e+01] [-2.28843786e-01 9.73377216e-01 -1.29350873e-02 -5.85509904e+00] [-6.52471971e-02 -2.07927538e-03 9.97866965e-01 -5.87180988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.837719420999996 meters 0.0635098560029454 Centerline is valid? [True, True] Translation: X:56.75, Y:-5.86, Z:-5.88 [[ 9.71012496e-01 2.30908049e-01 6.17754520e-02 5.67528877e+01] [-2.30579885e-01 9.72973270e-01 -1.24873217e-02 -5.85867845e+00] [-6.29892866e-02 -2.11883119e-03 9.98011954e-01 -5.88046844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.867719421 meters 0.06262256632506487 Centerline is valid? [True, True] Translation: X:56.78, Y:-5.87, Z:-5.88 [[ 9.71204938e-01 2.30473459e-01 6.03568870e-02 5.67803218e+01] [-2.30159673e-01 9.73076458e-01 -1.21955714e-02 -5.86862597e+00] [-6.15426214e-02 -2.04732217e-03 9.98102357e-01 -5.88274695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.897719421 meters 0.062427126387220054 Centerline is valid? [True, True] Translation: X:56.81, Y:-5.88, Z:-5.89 [[ 9.71507213e-01 2.29138785e-01 6.05735200e-02 5.68081907e+01] [-2.28820524e-01 9.73391758e-01 -1.22333142e-02 -5.87733188e+00] [-6.17648918e-02 -1.97571161e-03 9.98088771e-01 -5.88667731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.927719421 meters 0.06034183153474011 Centerline is valid? [True, True] Translation: X:56.83, Y:-5.90, Z:-5.89 [[ 9.72708353e-01 2.24062887e-01 6.02850172e-02 5.68345981e+01] [-2.23738195e-01 9.74573292e-01 -1.21704318e-02 -5.89527928e+00] [-6.14791098e-02 -1.64978023e-03 9.98107007e-01 -5.88882102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.957719421 meters 0.06032123456092286 Centerline is valid? [True, True] Translation: X:56.86, Y:-5.91, Z:-5.89 [[ 9.73357919e-01 2.21109669e-01 6.07031768e-02 5.68608129e+01] [-2.20774775e-01 9.75247836e-01 -1.22538914e-02 -5.90666885e+00] [-6.19100956e-02 -1.47430798e-03 9.98080641e-01 -5.89444015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.987719421 meters 0.057662961717320396 Centerline is valid? [True, True] Translation: X:56.89, Y:-5.93, Z:-5.90 [[ 9.74887569e-01 2.13942403e-01 6.18294184e-02 5.68853905e+01] [-2.13580930e-01 9.76845719e-01 -1.24750733e-02 -5.92908249e+00] [-6.30667499e-02 -1.04379081e-03 9.98008765e-01 -5.89758090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.017719420999995 meters 0.05597607635114358 Centerline is valid? [True, True] Translation: X:56.91, Y:-5.94, Z:-5.90 [[ 9.75674171e-01 2.10069829e-01 6.26943297e-02 5.69116918e+01] [-2.09690361e-01 9.77686051e-01 -1.26466339e-02 -5.94362902e+00] [-6.39520479e-02 -8.07402613e-04 9.97952646e-01 -5.89771792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.047719421 meters 0.05463634193699306 Centerline is valid? [True, True] Translation: X:56.94, Y:-5.97, Z:-5.90 [[ 9.77703205e-01 2.00093297e-01 6.37111893e-02 5.69363375e+01] [-1.99680700e-01 9.79776835e-01 -1.28441497e-02 -5.96856178e+00] [-6.49927757e-02 -1.64128537e-04 9.97885721e-01 -5.90049145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.077719421 meters 0.05541265276044543 Centerline is valid? [True, True] Translation: X:56.96, Y:-6.00, Z:-5.90 [[ 9.79902889e-01 1.89257071e-01 6.30245096e-02 5.69626024e+01] [-1.88831646e-01 9.81927427e-01 -1.26939984e-02 -5.99669093e+00] [-6.42879235e-02 5.37863825e-04 9.97931247e-01 -5.90326256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.107719421 meters 0.05633105617914472 Centerline is valid? [True, True] Translation: X:56.99, Y:-6.01, Z:-5.91 [[ 9.80622785e-01 1.85495853e-01 6.30098501e-02 5.69925215e+01] [-1.85061851e-01 9.82644721e-01 -1.27067993e-02 -6.01049499e+00] [-6.42733551e-02 7.99857462e-04 9.97932010e-01 -5.90640378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.137719421 meters 0.05540214469071717 Centerline is valid? [True, True] Translation: X:57.02, Y:-6.02, Z:-5.90 [[ 9.81036595e-01 1.83137295e-01 6.34659841e-02 5.70244531e+01] [-1.82690966e-01 9.83086861e-01 -1.28154399e-02 -6.02012808e+00] [-6.47395600e-02 9.77753586e-04 9.97901715e-01 -5.90211358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.167719421 meters 0.05686658828144347 Centerline is valid? [True, True] Translation: X:57.05, Y:-6.03, Z:-5.91 [[ 9.80786773e-01 1.84333727e-01 6.38622156e-02 5.70535904e+01] [-1.83882968e-01 9.82863277e-01 -1.29163680e-02 -6.02882150e+00] [-6.51487487e-02 9.25029113e-04 9.97875135e-01 -5.91236303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.197719420999995 meters 0.056148264358033 Centerline is valid? [True, True] Translation: X:57.09, Y:-6.03, Z:-5.92 [[ 9.80040774e-01 1.88830413e-01 6.21543020e-02 5.70853290e+01] [-1.88411336e-01 9.82009512e-01 -1.25891583e-02 -6.02823403e+00] [-6.34133317e-02 6.27313321e-04 9.97987152e-01 -5.91603315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.227719420999996 meters 0.05595864603940886 Centerline is valid? [True, True] Translation: X:57.12, Y:-6.03, Z:-5.92 [[ 9.79554623e-01 1.91634335e-01 6.12292534e-02 5.71172795e+01] [-1.91232228e-01 9.81466289e-01 -1.24160768e-02 -6.02955737e+00] [-6.24737947e-02 4.53218901e-04 9.98046502e-01 -5.92028163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.257719421 meters 0.05507595068289238 Centerline is valid? [True, True] Translation: X:57.15, Y:-6.03, Z:-5.92 [[ 9.78866244e-01 1.94223547e-01 6.40163259e-02 5.71485004e+01] [-1.93787727e-01 9.80957240e-01 -1.30080865e-02 -6.03203296e+00] [-6.53237551e-02 3.27598463e-04 9.97864069e-01 -5.91995887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.287719421 meters 0.05507595068289238 Centerline is valid? [True, True] Translation: X:57.18, Y:-6.04, Z:-5.92 [[ 9.78816998e-01 1.94471205e-01 6.40174534e-02 5.71793528e+01] [-1.94036277e-01 9.80908180e-01 -1.30025455e-02 -6.03855608e+00] [-6.53238644e-02 3.05404286e-04 9.97864069e-01 -5.92320498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.317719421 meters 0.054433776729918434 Centerline is valid? [True, True] Translation: X:57.21, Y:-6.05, Z:-5.92 [[ 9.78776682e-01 1.93260078e-01 6.81670664e-02 5.72086723e+01] [-1.92761997e-01 9.81147466e-01 -1.38730859e-02 -6.04823861e+00] [-6.95630582e-02 4.38633141e-04 9.97577460e-01 -5.92169376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.347719421 meters 0.05438000346326172 Centerline is valid? [True, True] Translation: X:57.24, Y:-6.05, Z:-5.93 [[ 9.78749786e-01 1.93358629e-01 6.82736859e-02 5.72404570e+01] [-1.92859302e-01 9.81128052e-01 -1.38936986e-02 -6.05469192e+00] [-6.96716950e-02 4.31239089e-04 9.97569882e-01 -5.92568228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.377719420999995 meters 0.05469078723015764 Centerline is valid? [True, True] Translation: X:57.27, Y:-6.06, Z:-5.93 [[ 9.78694112e-01 1.94176773e-01 6.67324279e-02 5.72709590e+01] [-1.93701334e-01 9.80966485e-01 -1.35848613e-02 -6.05653413e+00] [-6.81001397e-02 3.69263478e-04 9.97678422e-01 -5.93161794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.407719420999996 meters 0.05485138109799647 Centerline is valid? [True, True] Translation: X:57.30, Y:-6.06, Z:-5.94 [[ 9.78665367e-01 1.94566204e-01 6.60158444e-02 5.73015374e+01] [-1.94101029e-01 9.80889326e-01 -1.34506816e-02 -6.06115014e+00] [-6.73712852e-02 3.49972943e-04 9.97727913e-01 -5.93640882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.437719421 meters 0.05502303948655418 Centerline is valid? [True, True] Translation: X:57.33, Y:-6.06, Z:-5.94 [[ 9.78502193e-01 1.95557552e-01 6.55034459e-02 5.73311504e+01] [-1.95101511e-01 9.80692186e-01 -1.33505517e-02 -6.06203492e+00] [-6.68495187e-02 2.83722895e-04 9.97763029e-01 -5.94074364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.467719421 meters 0.0551338357575965 Centerline is valid? [True, True] Translation: X:57.36, Y:-6.06, Z:-5.94 [[ 9.78100783e-01 1.97759879e-01 6.48836522e-02 5.73601969e+01] [-1.97317268e-01 9.80250485e-01 -1.32243285e-02 -6.06321609e+00] [-6.62174731e-02 1.32061059e-04 9.97805206e-01 -5.94430080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.497719421 meters 0.05494073759358326 Centerline is valid? [True, True] Translation: X:57.39, Y:-6.05, Z:-5.94 [[ 9.76070059e-01 2.06581454e-01 6.79068620e-02 5.73906398e+01] [-2.06118060e-01 9.78429283e-01 -1.38377401e-02 -6.05456024e+00] [-6.93006828e-02 -4.90226851e-04 9.97595697e-01 -5.94230417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.527719421 meters 0.05358012059799783 Centerline is valid? [True, True] Translation: X:57.42, Y:-6.06, Z:-5.93 [[ 9.74833860e-01 2.11798618e-01 6.95721979e-02 5.74215015e+01] [-2.11325902e-01 9.77312926e-01 -1.41706499e-02 -6.05621361e+00] [-7.09951324e-02 -8.88378077e-04 9.97476266e-01 -5.93140438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.557719421 meters 0.05622217366748237 Centerline is valid? [True, True] Translation: X:57.45, Y:-6.05, Z:-5.94 [[ 9.72764379e-01 2.20869187e-01 7.03296948e-02 5.74523678e+01] [-2.20410186e-01 9.75302173e-01 -1.43185655e-02 -6.04613422e+00] [-7.17552341e-02 -1.57279068e-03 9.97421031e-01 -5.93595256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.587719420999996 meters 0.05662114306241077 Centerline is valid? [True, True] Translation: X:57.48, Y:-6.05, Z:-5.94 [[ 9.72291431e-01 2.23200399e-01 6.95050795e-02 5.74809411e+01] [-2.22758400e-01 9.74771046e-01 -1.41457645e-02 -6.04756610e+00] [-7.09088794e-02 -1.72903469e-03 9.97481299e-01 -5.93852847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.617719421 meters 0.058774956536750037 Centerline is valid? [True, True] Translation: X:57.51, Y:-6.05, Z:-5.94 [[ 9.71112375e-01 2.28522623e-01 6.86889013e-02 5.75105997e+01] [-2.28104847e-01 9.73536335e-01 -1.39707630e-02 -6.04544427e+00] [-7.00637766e-02 -2.10109049e-03 9.97540301e-01 -5.94304796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.647719421 meters 0.05879215909893415 Centerline is valid? [True, True] Translation: X:57.54, Y:-6.05, Z:-5.94 [[ 9.70520326e-01 2.30889510e-01 6.91399417e-02 5.75390764e+01] [-2.30472486e-01 9.72977280e-01 -1.40586657e-02 -6.05178598e+00] [-7.05175908e-02 -2.29063344e-03 9.97507906e-01 -5.94403218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.677719421 meters 0.06064849572234389 Centerline is valid? [True, True] Translation: X:57.57, Y:-6.06, Z:-5.95 [[ 9.70087629e-01 2.32505232e-01 6.97947577e-02 5.75659283e+01] [-2.32084851e-01 9.72592093e-01 -1.41859971e-02 -6.05597255e+00] [-7.11801480e-02 -2.43664565e-03 9.97460500e-01 -5.94909593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.707719421 meters 0.06186856110160138 Centerline is valid? [True, True] Translation: X:57.59, Y:-6.06, Z:-5.95 [[ 9.69952940e-01 2.33789133e-01 6.73345082e-02 5.75938336e+01] [-2.33401568e-01 9.72284239e-01 -1.36772666e-02 -6.06192768e+00] [-6.86658773e-02 -2.44967479e-03 9.97636706e-01 -5.95483276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.737719421 meters 0.0611671739260695 Centerline is valid? [True, True] Translation: X:57.62, Y:-6.07, Z:-5.96 [[ 9.69845704e-01 2.34562640e-01 6.61791403e-02 5.76214667e+01] [-2.34190291e-01 9.72097883e-01 -1.34392446e-02 -6.06937494e+00] [-6.74849469e-02 -2.46451850e-03 9.97717249e-01 -5.95730438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.767719420999995 meters 0.06384892605380066 Centerline is valid? [True, True] Translation: X:57.65, Y:-6.07, Z:-5.97 [[ 9.69346595e-01 2.37517142e-01 6.28711872e-02 5.76505799e+01] [-2.37187799e-01 9.71380017e-01 -1.27597511e-02 -6.07053360e+00] [-6.41024745e-02 -2.54365724e-03 9.97940080e-01 -5.96639598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.797719421 meters 0.06424516892266387 Centerline is valid? [True, True] Translation: X:57.68, Y:-6.08, Z:-5.97 [[ 9.69353553e-01 2.37914575e-01 6.12400630e-02 5.76777020e+01] [-2.37602765e-01 9.71282863e-01 -1.24308264e-02 -6.07723669e+00] [-6.24388985e-02 -2.50094255e-03 9.98045655e-01 -5.97153607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.827719421 meters 0.062430925331075526 Centerline is valid? [True, True] Translation: X:57.70, Y:-6.09, Z:-5.97 [[ 9.70210997e-01 2.34352035e-01 6.13982574e-02 5.77045930e+01] [-2.34032076e-01 9.72149112e-01 -1.24535939e-02 -6.09426497e+00] [-6.26067865e-02 -2.28654785e-03 9.98035652e-01 -5.97330782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.857719421 meters 0.05894612815133764 Centerline is valid? [True, True] Translation: X:57.73, Y:-6.11, Z:-5.97 [[ 9.70951177e-01 2.30858256e-01 6.29148351e-02 5.77321126e+01] [-2.30515196e-01 9.72985092e-01 -1.27575806e-02 -6.11197455e+00] [-6.41603894e-02 -2.11583765e-03 9.97937357e-01 -5.97064879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.887719421 meters 0.056806150846964526 Centerline is valid? [True, True] Translation: X:57.76, Y:-6.13, Z:-5.97 [[ 9.72762203e-01 2.22683991e-01 6.43858418e-02 5.77580993e+01] [-2.22306869e-01 9.74889344e-01 -1.30545740e-02 -6.12932421e+00] [-6.56761157e-02 -1.61441875e-03 9.97839687e-01 -5.97404485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.917719421 meters 0.05559428837165744 Centerline is valid? [True, True] Translation: X:57.79, Y:-6.14, Z:-5.98 [[ 9.73642408e-01 2.18373092e-01 6.58304899e-02 5.77867246e+01] [-2.17969211e-01 9.75864413e-01 -1.33443014e-02 -6.14112960e+00] [-6.71556688e-02 -1.35644216e-03 9.97741588e-01 -5.97658931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.947719420999995 meters 0.05470052227147744 Centerline is valid? [True, True] Translation: X:57.81, Y:-6.16, Z:-5.98 [[ 9.75243550e-01 2.10981109e-01 6.62343539e-02 5.78138442e+01] [-2.10555515e-01 9.77489763e-01 -1.34215390e-02 -6.15851032e+00] [-6.75750941e-02 -8.56739180e-04 9.97713823e-01 -5.98348034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.977719420999996 meters 0.05342209478153108 Centerline is valid? [True, True] Translation: X:57.84, Y:-6.17, Z:-5.98 [[ 9.75842112e-01 2.08033807e-01 6.67390952e-02 5.78441359e+01] [-2.07594609e-01 9.78121417e-01 -1.35267054e-02 -6.17190099e+00] [-6.80929504e-02 -6.54747622e-04 9.97678767e-01 -5.98196618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.007719421 meters 0.052919391301103166 Centerline is valid? [True, True] Translation: X:57.88, Y:-6.18, Z:-5.99 [[ 9.76971781e-01 2.02461563e-01 6.73457842e-02 5.78751978e+01] [-2.01999242e-01 9.79290180e-01 -1.36765934e-02 -6.18230136e+00] [-6.87200496e-02 -2.42151604e-04 9.97635954e-01 -5.98527071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.037719421 meters 0.05357009623304599 Centerline is valid? [True, True] Translation: X:57.91, Y:-6.19, Z:-5.99 [[ 9.77590059e-01 1.99562766e-01 6.70252115e-02 5.79051532e+01] [-1.99097616e-01 9.79885045e-01 -1.36175597e-02 -6.18988594e+00] [-6.83945603e-02 -3.21688462e-05 9.97658350e-01 -5.99419610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.067719421 meters 0.053754591267888945 Centerline is valid? [True, True] Translation: X:57.94, Y:-6.20, Z:-5.99 [[ 9.79243901e-01 1.91774558e-01 6.56041202e-02 5.79351765e+01] [-1.91309940e-01 9.81438864e-01 -1.33514888e-02 -6.20388296e+00] [-6.69469091e-02 5.23643708e-04 9.97756402e-01 -5.99214138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.097719421 meters 0.05441150462535853 Centerline is valid? [True, True] Translation: X:57.97, Y:-6.21, Z:-6.00 [[ 9.80027526e-01 1.87887571e-01 6.51483639e-02 5.79654129e+01] [-1.87419419e-01 9.82190213e-01 -1.32796009e-02 -6.21486120e+00] [-6.64831573e-02 8.04305903e-04 9.97787223e-01 -5.99620049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.127719420999995 meters 0.05588032594200873 Centerline is valid? [True, True] Translation: X:57.99, Y:-6.23, Z:-6.00 [[ 9.81380568e-01 1.79233195e-01 6.90481153e-02 5.79948310e+01] [-1.78684060e-01 9.83805476e-01 -1.40993601e-02 -6.22685963e+00] [-7.04569873e-02 1.49904049e-03 9.97513692e-01 -5.99512333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.157719420999996 meters 0.06035774132133986 Centerline is valid? [True, True] Translation: X:58.02, Y:-6.24, Z:-6.00 [[ 9.83309306e-01 1.67300712e-01 7.15072123e-02 5.80229333e+01] [-1.66677916e-01 9.85902822e-01 -1.46320620e-02 -6.24009810e+00] [-7.29471168e-02 2.46916955e-03 9.97332754e-01 -5.99561252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.187719421 meters 0.06344958008897723 Centerline is valid? [True, True] Translation: X:58.05, Y:-6.25, Z:-6.00 [[ 9.84353395e-01 1.61365408e-01 7.07785233e-02 5.80521698e+01] [-1.60740036e-01 9.86890532e-01 -1.44817020e-02 -6.25119151e+00] [-7.21875003e-02 2.87817016e-03 9.97386926e-01 -5.99934436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.217719421 meters 0.064484737462046 Centerline is valid? [True, True] Translation: X:58.08, Y:-6.26, Z:-6.00 [[ 9.85978815e-01 1.51075716e-01 7.08653938e-02 5.80826596e+01] [-1.50422047e-01 9.88515494e-01 -1.45026234e-02 -6.25843301e+00] [-7.22425340e-02 3.63956180e-03 9.97380454e-01 -5.99882969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.247719421 meters 0.06616096095164607 Centerline is valid? [True, True] Translation: X:58.11, Y:-6.27, Z:-6.00 [[ 9.86211174e-01 1.48774715e-01 7.24817477e-02 5.81123026e+01] [-1.48084693e-01 9.88863446e-01 -1.48326783e-02 -6.26648369e+00] [-7.38812783e-02 3.89471572e-03 9.97259439e-01 -6.00040165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.277719421 meters 0.06618014079747722 Centerline is valid? [True, True] Translation: X:58.15, Y:-6.26, Z:-6.00 [[ 9.86141992e-01 1.48994514e-01 7.29699050e-02 5.81463714e+01] [-1.48295270e-01 9.88830289e-01 -1.49389709e-02 -6.26312284e+00] [-7.43806769e-02 3.91085481e-03 9.97222252e-01 -6.00399107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.307719421 meters 0.06328446300770663 Centerline is valid? [True, True] Translation: X:58.18, Y:-6.26, Z:-6.01 [[ 9.85785466e-01 1.51532941e-01 7.25588196e-02 5.81803210e+01] [-1.50846393e-01 9.88445188e-01 -1.48820604e-02 -6.25772025e+00] [-7.39755385e-02 3.72528262e-03 9.97253098e-01 -6.00512432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.337719420999996 meters 0.06108915899819965 Centerline is valid? [True, True] Translation: X:58.21, Y:-6.25, Z:-6.01 [[ 9.84641895e-01 1.60211043e-01 6.93740609e-02 5.82124595e+01] [-1.59602692e-01 9.87078316e-01 -1.42610854e-02 -6.24711076e+00] [-7.07624146e-02 2.96977534e-03 9.97488777e-01 -6.01141998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.367719421 meters 0.061295446795980923 Centerline is valid? [True, True] Translation: X:58.24, Y:-6.25, Z:-6.02 [[ 9.84069482e-01 1.64935849e-01 6.63582671e-02 5.82428930e+01] [-1.64390497e-01 9.86301107e-01 -1.36341663e-02 -6.24952547e+00] [-6.76979951e-02 2.50829853e-03 9.97702706e-01 -6.02134342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.397719421 meters 0.05797006797500416 Centerline is valid? [True, True] Translation: X:58.28, Y:-6.24, Z:-6.03 [[ 9.82713145e-01 1.72884591e-01 6.62253197e-02 5.82755049e+01] [-1.72358201e-01 9.84940109e-01 -1.36246753e-02 -6.24158864e+00] [-6.75834701e-02 1.97467057e-03 9.97711669e-01 -6.02641189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.427719421 meters 0.05633734927285834 Centerline is valid? [True, True] Translation: X:58.31, Y:-6.24, Z:-6.03 [[ 9.82029063e-01 1.76149420e-01 6.77517575e-02 5.83076732e+01] [-1.75606143e-01 9.84361810e-01 -1.39395006e-02 -6.24036067e+00] [-6.91476776e-02 1.79136996e-03 9.97604826e-01 -6.02718175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.457719421 meters 0.05355728454371262 Centerline is valid? [True, True] Translation: X:58.34, Y:-6.23, Z:-6.03 [[ 9.80296391e-01 1.84435214e-01 7.07293236e-02 5.83417372e+01] [-1.83864256e-01 9.82843860e-01 -1.45562060e-02 -6.23175142e+00] [-7.22005584e-02 1.26480177e-03 9.97389332e-01 -6.02561954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.487719421 meters 0.052606203312264205 Centerline is valid? [True, True] Translation: X:58.37, Y:-6.23, Z:-6.03 [[ 9.79411379e-01 1.88815962e-01 7.14274727e-02 5.83733799e+01] [-1.88245110e-01 9.82012028e-01 -1.47022247e-02 -6.22971449e+00] [-7.29186520e-02 9.53653643e-04 9.97337436e-01 -6.02820847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.517719420999995 meters 0.051822825885758206 Centerline is valid? [True, True] Translation: X:58.40, Y:-6.22, Z:-6.03 [[ 9.77348924e-01 1.99529596e-01 7.05480054e-02 5.84043355e+01] [-1.99000305e-01 9.79891788e-01 -1.45245629e-02 -6.21716449e+00] [-7.20274913e-02 1.56491360e-04 9.97402635e-01 -6.03313500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.547719421 meters 0.052007814849883434 Centerline is valid? [True, True] Translation: X:58.43, Y:-6.21, Z:-6.04 [[ 9.76280151e-01 2.04813889e-01 7.02021133e-02 5.84336926e+01] [-2.04304030e-01 9.78800906e-01 -1.44447411e-02 -6.21480466e+00] [-7.16723757e-02 -2.40460581e-04 9.97428199e-01 -6.03732886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.577719421 meters 0.053085349139538406 Centerline is valid? [True, True] Translation: X:58.46, Y:-6.21, Z:-6.04 [[ 9.74349561e-01 2.13779296e-01 7.02947003e-02 5.84646991e+01] [-2.13291795e-01 9.76881564e-01 -1.44574981e-02 -6.20630088e+00] [-7.17603106e-02 -9.06625867e-04 9.97421494e-01 -6.04140528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.607719421 meters 0.05456987591025798 Centerline is valid? [True, True] Translation: X:58.49, Y:-6.20, Z:-6.05 [[ 9.73059683e-01 2.19926359e-01 6.91899528e-02 5.84944522e+01] [-2.19470002e-01 9.75515551e-01 -1.42242204e-02 -6.19896288e+00] [-7.06241559e-02 -1.34410363e-03 9.97502091e-01 -6.04672467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.637719421 meters 0.055491062175602304 Centerline is valid? [True, True] Translation: X:58.52, Y:-6.20, Z:-6.05 [[ 9.72920444e-01 2.21023281e-01 6.76351876e-02 5.85214827e+01] [-2.20590171e-01 9.75267533e-01 -1.39002017e-02 -6.20060482e+00] [-6.90346707e-02 -1.39586715e-03 9.97613285e-01 -6.05211750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.667719421 meters 0.056517463677266 Centerline is valid? [True, True] Translation: X:58.55, Y:-6.21, Z:-6.06 [[ 9.72998615e-01 2.21770192e-01 6.39662120e-02 5.85489924e+01] [-2.21385113e-01 9.75097984e-01 -1.31359760e-02 -6.20741672e+00] [-6.52864923e-02 -1.37988068e-03 9.97865607e-01 -6.05934284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.697719420999995 meters 0.056461573926175596 Centerline is valid? [True, True] Translation: X:58.58, Y:-6.22, Z:-6.06 [[ 9.73212793e-01 2.21074628e-01 6.31099678e-02 5.85769190e+01] [-2.20698548e-01 9.75256002e-01 -1.29568663e-02 -6.21554956e+00] [-6.44128093e-02 -1.31849021e-03 9.97922468e-01 -6.06324688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.727719420999996 meters 0.055413571663643156 Centerline is valid? [True, True] Translation: X:58.60, Y:-6.23, Z:-6.06 [[ 9.73834471e-01 2.17915515e-01 6.44922524e-02 5.86044658e+01] [-2.17516274e-01 9.75966971e-01 -1.32341307e-02 -6.22659410e+00] [-6.58262306e-02 -1.14026180e-03 9.97830450e-01 -6.06497411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.757719421 meters 0.054804572056079796 Centerline is valid? [True, True] Translation: X:58.63, Y:-6.23, Z:-6.07 [[ 9.74170788e-01 2.15991674e-01 6.58701150e-02 5.86323652e+01] [-2.15571028e-01 9.76394656e-01 -1.35132339e-02 -6.23471102e+00] [-6.72339743e-02 -1.03549064e-03 9.97736699e-01 -6.06644947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.787719421 meters 0.05462100790394047 Centerline is valid? [True, True] Translation: X:58.66, Y:-6.24, Z:-6.07 [[ 9.74519151e-01 2.14520016e-01 6.55254647e-02 5.86583867e+01] [-2.14100766e-01 9.76719146e-01 -1.34376794e-02 -6.24422918e+00] [-6.68826271e-02 -9.33776266e-04 9.97760413e-01 -6.06959263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.817719421 meters 0.05490152559997754 Centerline is valid? [True, True] Translation: X:58.69, Y:-6.25, Z:-6.07 [[ 9.74848901e-01 2.13500480e-01 6.39309364e-02 5.86854456e+01] [-2.13099693e-01 9.76942589e-01 -1.31033709e-02 -6.25282783e+00] [-6.52544305e-02 -8.49856196e-04 9.97868296e-01 -6.07473735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.847719421 meters 0.055074258564482746 Centerline is valid? [True, True] Translation: X:58.71, Y:-6.26, Z:-6.08 [[ 9.74739663e-01 2.13892868e-01 6.42839882e-02 5.87120785e+01] [-2.13488845e-01 9.76856722e-01 -1.31703396e-02 -6.26470785e+00] [-6.56132877e-02 -8.86261975e-04 9.97844733e-01 -6.07753617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.877719420999995 meters 0.05442865273549462 Centerline is valid? [True, True] Translation: X:58.74, Y:-6.28, Z:-6.08 [[ 9.75058600e-01 2.11953501e-01 6.58516503e-02 5.87385623e+01] [-2.11525473e-01 9.77279441e-01 -1.34858779e-02 -6.27812998e+00] [-6.72138430e-02 -7.79780270e-04 9.97738288e-01 -6.07822099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.907719420999996 meters 0.05382781983137831 Centerline is valid? [True, True] Translation: X:58.77, Y:-6.29, Z:-6.08 [[ 9.75580505e-01 2.09392066e-01 6.63147129e-02 5.87658466e+01] [-2.08952453e-01 9.77831574e-01 -1.35751851e-02 -6.28633712e+00] [-6.76871562e-02 -6.12936008e-04 9.97706406e-01 -6.08009176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.937719421 meters 0.052336900350876916 Centerline is valid? [True, True] Translation: X:58.79, Y:-6.30, Z:-6.08 [[ 9.76277915e-01 2.05863772e-01 6.70935143e-02 5.87938935e+01] [-2.05405796e-01 9.78580587e-01 -1.37293099e-02 -6.29630850e+00] [-6.84827781e-02 -3.77774730e-04 9.97652227e-01 -6.07597427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.967719421 meters 0.052394913013279275 Centerline is valid? [True, True] Translation: X:58.82, Y:-6.31, Z:-6.08 [[ 9.77905101e-01 1.98445336e-01 6.57347902e-02 5.88201979e+01] [-1.97989464e-01 9.80111948e-01 -1.34439882e-02 -6.31358440e+00] [-6.70953500e-02 1.32148790e-04 9.97746559e-01 -6.07982068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.997719421 meters 0.05339088008450944 Centerline is valid? [True, True] Translation: X:58.85, Y:-6.34, Z:-6.08 [[ 9.79927720e-01 1.88848306e-01 6.38590781e-02 5.88466043e+01] [-1.88398048e-01 9.82005976e-01 -1.30552328e-02 -6.33722723e+00] [-6.51754549e-02 7.62258824e-04 9.97873529e-01 -6.08357954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.027719421 meters 0.05415252362097635 Centerline is valid? [True, True] Translation: X:58.88, Y:-6.35, Z:-6.09 [[ 9.80650757e-01 1.84860936e-01 6.44245769e-02 5.88757339e+01] [-1.84394589e-01 9.82764151e-01 -1.31628082e-02 -6.34948566e+00] [-6.57474536e-02 1.02857451e-03 9.97835765e-01 -6.08674802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.057719421 meters 0.057031491851883734 Centerline is valid? [True, True] Translation: X:58.90, Y:-6.36, Z:-6.09 [[ 9.81404278e-01 1.79749452e-01 6.73481785e-02 5.89047983e+01] [-1.79226394e-01 9.83711352e-01 -1.37795279e-02 -6.36369385e+00] [-6.87280303e-02 1.45271642e-03 9.97634376e-01 -6.09218158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.087719420999996 meters 0.056802914885345834 Centerline is valid? [True, True] Translation: X:58.94, Y:-6.37, Z:-6.09 [[ 9.81370046e-01 1.79925007e-01 6.73782251e-02 5.89360786e+01] [-1.79399731e-01 9.83679229e-01 -1.38170710e-02 -6.36859855e+00] [-6.87645971e-02 1.47202417e-03 9.97631828e-01 -6.09459102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.117719421 meters 0.053245651234160925 Centerline is valid? [True, True] Translation: X:58.97, Y:-6.36, Z:-6.09 [[ 9.80619177e-01 1.83964014e-01 6.74037894e-02 5.89706772e+01] [-1.83448316e-01 9.82932268e-01 -1.38156747e-02 -6.36439836e+00] [-6.87949466e-02 1.18280388e-03 9.97630120e-01 -6.08926823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.147719421 meters 0.05238874304933502 Centerline is valid? [True, True] Translation: X:59.00, Y:-6.37, Z:-6.09 [[ 9.79899585e-01 1.87707770e-01 6.75469915e-02 5.90018815e+01] [-1.87196633e-01 9.82224458e-01 -1.38756692e-02 -6.36651585e+00] [-6.89508780e-02 9.52193117e-04 9.97619602e-01 -6.09218380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.177719421 meters 0.05180469906276567 Centerline is valid? [True, True] Translation: X:59.03, Y:-6.36, Z:-6.10 [[ 9.78703361e-01 1.94170869e-01 6.66138460e-02 5.90317513e+01] [-1.93688290e-01 9.80967597e-01 -1.36901031e-02 -6.36390084e+00] [-6.80042437e-02 4.96227985e-04 9.97684908e-01 -6.09772309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.207719421 meters 0.05180469906276567 Centerline is valid? [True, True] Translation: X:59.06, Y:-6.37, Z:-6.10 [[ 9.78711882e-01 1.94127710e-01 6.66144487e-02 5.90601962e+01] [-1.93645231e-01 9.80976139e-01 -1.36871695e-02 -6.36968993e+00] [-6.80042436e-02 4.96225114e-04 9.97684908e-01 -6.10071137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.237719421 meters 0.0516581895468335 Centerline is valid? [True, True] Translation: X:59.09, Y:-6.37, Z:-6.10 [[ 9.78042491e-01 1.97268586e-01 6.72160006e-02 5.90892527e+01] [-1.96784971e-01 9.80349442e-01 -1.38074944e-02 -6.37140981e+00] [-6.86189536e-02 2.77217501e-04 9.97642903e-01 -6.10443661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.267719420999995 meters 0.052504202585791734 Centerline is valid? [True, True] Translation: X:59.12, Y:-6.37, Z:-6.11 [[ 9.77347450e-01 2.00112622e-01 6.88977509e-02 5.91164980e+01] [-1.99611581e-01 9.79772898e-01 -1.41521870e-02 -6.37255106e+00] [-7.03361803e-02 7.88148534e-05 9.97523341e-01 -6.11354998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.297719421 meters 0.05131772512413908 Centerline is valid? [True, True] Translation: X:59.15, Y:-6.37, Z:-6.11 [[ 9.76740773e-01 2.03396376e-01 6.78776649e-02 5.91466712e+01] [-2.02918552e-01 9.79096465e-01 -1.39346124e-02 -6.37397247e+00] [-6.92930314e-02 -1.63133425e-04 9.97596336e-01 -6.10596426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.327719421 meters 0.05136755024930281 Centerline is valid? [True, True] Translation: X:59.17, Y:-6.38, Z:-6.11 [[ 9.76578935e-01 2.04308516e-01 6.74656560e-02 5.91740950e+01] [-2.03839019e-01 9.78906521e-01 -1.38447693e-02 -6.37793195e+00] [-6.88711749e-02 -2.31623045e-04 9.97625535e-01 -6.10929347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.357719421 meters 0.051466849311351204 Centerline is valid? [True, True] Translation: X:59.20, Y:-6.38, Z:-6.11 [[ 9.76436321e-01 2.05314272e-01 6.64692462e-02 5.92023940e+01] [-2.04861417e-01 9.78696049e-01 -1.36324443e-02 -6.38145056e+00] [-6.78521240e-02 -3.05770192e-04 9.97695342e-01 -6.11248213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.387719421 meters 0.05174438522909699 Centerline is valid? [True, True] Translation: X:59.23, Y:-6.39, Z:-6.12 [[ 9.76310153e-01 2.06322731e-01 6.51875436e-02 5.92301424e+01] [-2.05889814e-01 9.78483925e-01 -1.33639052e-02 -6.38681377e+00] [-6.65422410e-02 -3.74134927e-04 9.97783539e-01 -6.11688536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.417719421 meters 0.052387364718653885 Centerline is valid? [True, True] Translation: X:59.26, Y:-6.39, Z:-6.12 [[ 9.75910910e-01 2.08665247e-01 6.36923111e-02 5.92581231e+01] [-2.08257321e-01 9.77986982e-01 -1.30518642e-02 -6.39124311e+00] [-6.50137216e-02 -5.26933365e-04 9.97884231e-01 -6.12244332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.447719420999995 meters 0.05266866693456663 Centerline is valid? [True, True] Translation: X:59.29, Y:-6.39, Z:-6.12 [[ 9.75276638e-01 2.11380291e-01 6.44503900e-02 5.92863168e+01] [-2.10968787e-01 9.77403629e-01 -1.32029292e-02 -6.39354189e+00] [-6.57848841e-02 -7.20512262e-04 9.97833568e-01 -6.12495532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.477719420999996 meters 0.05385546210767213 Centerline is valid? [True, True] Translation: X:59.32, Y:-6.39, Z:-6.13 [[ 9.73843257e-01 2.17704997e-01 6.50680104e-02 5.93166451e+01] [-2.17300324e-01 9.76013918e-01 -1.33191702e-02 -6.38903235e+00] [-6.64069337e-02 -1.16851569e-03 9.97791939e-01 -6.12578517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.507719421 meters 0.05495517783647799 Centerline is valid? [True, True] Translation: X:59.34, Y:-6.39, Z:-6.13 [[ 9.72813035e-01 2.21969285e-01 6.60638708e-02 5.93446910e+01] [-2.21562281e-01 9.75052525e-01 -1.35177756e-02 -6.38894675e+00] [-6.74162750e-02 -1.48699362e-03 9.97723827e-01 -6.12762750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.537719421 meters 0.0575745375210491 Centerline is valid? [True, True] Translation: X:59.38, Y:-6.39, Z:-6.13 [[ 9.71130285e-01 2.29626331e-01 6.46352721e-02 5.93757485e+01] [-2.29254296e-01 9.73276843e-01 -1.32157042e-02 -6.38800659e+00] [-6.59426873e-02 -1.98374327e-03 9.97821440e-01 -6.13112025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.567719421 meters 0.05884687588695111 Centerline is valid? [True, True] Translation: X:59.40, Y:-6.39, Z:-6.14 [[ 9.70609267e-01 2.32374472e-01 6.26079522e-02 5.94046503e+01] [-2.32031202e-01 9.72624121e-01 -1.28000036e-02 -6.39323356e+00] [-6.38683986e-02 -2.10319629e-03 9.97956113e-01 -6.13556016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.597719421 meters 0.06268255140484218 Centerline is valid? [True, True] Translation: X:59.43, Y:-6.40, Z:-6.14 [[ 9.69593127e-01 2.36875010e-01 6.14768125e-02 5.94339363e+01] [-2.36553279e-01 9.71537268e-01 -1.25651805e-02 -6.39548377e+00] [-6.27033917e-02 -2.35942896e-03 9.98029417e-01 -6.14183637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.627719420999995 meters 0.061761660822060714 Centerline is valid? [True, True] Translation: X:59.46, Y:-6.40, Z:-6.14 [[ 9.69257658e-01 2.37899417e-01 6.27969806e-02 5.94619212e+01] [-2.37565798e-01 9.71286637e-01 -1.28358970e-02 -6.40374013e+00] [-6.40475205e-02 -2.47712334e-03 9.97943775e-01 -6.14150233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.657719420999996 meters 0.06240320807821553 Centerline is valid? [True, True] Translation: X:59.49, Y:-6.41, Z:-6.14 [[ 9.68963540e-01 2.39242864e-01 6.22294965e-02 5.94889516e+01] [-2.38918168e-01 9.70956423e-01 -1.27174644e-02 -6.41199083e+00] [-6.34646919e-02 -2.54499803e-03 9.97980839e-01 -6.14434102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.687719421 meters 0.06323714074140341 Centerline is valid? [True, True] Translation: X:59.51, Y:-6.42, Z:-6.15 [[ 9.69199176e-01 2.38850292e-01 6.00291197e-02 5.95146273e+01] [-2.38548139e-01 9.71053334e-01 -1.22559234e-02 -6.42137113e+00] [-6.12188077e-02 -2.44140391e-03 9.98121384e-01 -6.15088157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.717719421 meters 0.062404050731033674 Centerline is valid? [True, True] Translation: X:59.54, Y:-6.43, Z:-6.15 [[ 9.69533810e-01 2.37008966e-01 6.18945912e-02 5.95427705e+01] [-2.36684607e-01 9.71504480e-01 -1.26270103e-02 -6.43228398e+00] [-6.31235873e-02 -2.40718359e-03 9.98002815e-01 -6.15313481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.747719421 meters 0.05858579819076048 Centerline is valid? [True, True] Translation: X:59.57, Y:-6.46, Z:-6.15 [[ 9.71064511e-01 2.30775327e-01 6.14529337e-02 5.95679760e+01] [-2.30443271e-01 9.73005030e-01 -1.25343438e-02 -6.45660619e+00] [-6.26866309e-02 -1.98975863e-03 9.98031276e-01 -6.15369600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.777719421 meters 0.05634254316749295 Centerline is valid? [True, True] Translation: X:59.59, Y:-6.47, Z:-6.15 [[ 9.72048826e-01 2.26804041e-01 6.06713055e-02 5.95938610e+01] [-2.26472701e-01 9.73938908e-01 -1.23741741e-02 -6.47315552e+00] [-6.18966576e-02 -1.71209303e-03 9.98081095e-01 -6.15470062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.807719421 meters 0.05548809439685608 Centerline is valid? [True, True] Translation: X:59.62, Y:-6.49, Z:-6.16 [[ 9.73960493e-01 2.19157097e-01 5.80613841e-02 5.96176107e+01] [-2.18840325e-01 9.75688876e-01 -1.18376609e-02 -6.49247566e+00] [-5.92441540e-02 -1.17675814e-03 9.98242829e-01 -6.16217989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.837719420999996 meters 0.05441318311677807 Centerline is valid? [True, True] Translation: X:59.64, Y:-6.51, Z:-6.16 [[ 9.74820476e-01 2.15513316e-01 5.72630007e-02 5.96439941e+01] [-2.15199351e-01 9.76500440e-01 -1.16674652e-02 -6.50587928e+00] [-5.84318395e-02 -9.49276562e-04 9.98290949e-01 -6.16491167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.867719421 meters 0.054181606012019747 Centerline is valid? [True, True] Translation: X:59.67, Y:-6.52, Z:-6.17 [[ 9.76166699e-01 2.09819278e-01 5.54476855e-02 5.96690132e+01] [-2.09516057e-01 9.77740005e-01 -1.12918083e-02 -6.52299915e+00] [-5.65826594e-02 -5.94493195e-04 9.98397741e-01 -6.17206821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.897719421 meters 0.053805829350869465 Centerline is valid? [True, True] Translation: X:59.70, Y:-6.53, Z:-6.17 [[ 9.76789136e-01 2.07177132e-01 5.44115866e-02 5.96979635e+01] [-2.06881410e-01 9.78303349e-01 -1.10742594e-02 -6.53440360e+00] [-5.55253707e-02 -4.39529480e-04 9.98457180e-01 -6.17443940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.927719421 meters 0.052815662351196634 Centerline is valid? [True, True] Translation: X:59.73, Y:-6.55, Z:-6.17 [[ 9.78020193e-01 2.00503755e-01 5.72254036e-02 5.97255612e+01] [-2.00165260e-01 9.79692931e-01 -1.16459825e-02 -6.55085669e+00] [-5.83983866e-02 -6.45317019e-05 9.98293356e-01 -6.17423497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.957719421 meters 0.0521435642978114 Centerline is valid? [True, True] Translation: X:59.76, Y:-6.56, Z:-6.17 [[ 9.78703580e-01 1.96121582e-01 6.06269475e-02 5.97551648e+01] [-1.95733165e-01 9.80579564e-01 -1.23388466e-02 -6.56447471e+00] [-6.18694599e-02 2.09369029e-04 9.98084228e-01 -6.17195560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.987719421 meters 0.053281890669325094 Centerline is valid? [True, True] Translation: X:59.78, Y:-6.59, Z:-6.17 [[ 9.80863086e-01 1.85127548e-01 6.02942493e-02 5.97837724e+01] [-1.84722538e-01 9.82714090e-01 -1.22720008e-02 -6.58575476e+00] [-6.15238937e-02 8.99445853e-04 9.98105206e-01 -6.17287412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.017719420999995 meters 0.05481866205407506 Centerline is valid? [True, True] Translation: X:59.81, Y:-6.60, Z:-6.18 [[ 9.81867641e-01 1.79734508e-01 6.02614459e-02 5.98121334e+01] [-1.79319339e-01 9.83714369e-01 -1.22725532e-02 -6.59903410e+00] [-6.14858515e-02 1.24398018e-03 9.98107180e-01 -6.17703763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.047719421 meters 0.056992737783545626 Centerline is valid? [True, True] Translation: X:59.84, Y:-6.61, Z:-6.18 [[ 9.83530255e-01 1.70547388e-01 5.98483576e-02 5.98404700e+01] [-1.70120672e-01 9.85347813e-01 -1.21919412e-02 -6.61398488e+00] [-6.10507520e-02 1.80970015e-03 9.98133023e-01 -6.17747967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.077719421 meters 0.057694333455904065 Centerline is valid? [True, True] Translation: X:59.87, Y:-6.62, Z:-6.18 [[ 9.83780235e-01 1.68266981e-01 6.21504044e-02 5.98718875e+01] [-1.67802836e-01 9.85739395e-01 -1.26512247e-02 -6.62225518e+00] [-6.33928854e-02 2.01701069e-03 9.97986610e-01 -6.17882358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.107719421 meters 0.05848689742150897 Centerline is valid? [True, True] Translation: X:59.90, Y:-6.63, Z:-6.18 [[ 9.83967198e-01 1.66117561e-01 6.49115467e-02 5.99030134e+01] [-1.65605017e-01 9.86103333e-01 -1.32361000e-02 -6.62704024e+00] [-6.62082412e-02 2.27421046e-03 9.97803235e-01 -6.17911305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.137719421 meters 0.059245346909784745 Centerline is valid? [True, True] Translation: X:59.93, Y:-6.63, Z:-6.18 [[ 9.84081437e-01 1.64756415e-01 6.66261934e-02 5.99345148e+01] [-1.64212001e-01 9.86331250e-01 -1.36045429e-02 -6.63384861e+00] [-6.79569324e-02 2.44715760e-03 9.97685254e-01 -6.18072552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.167719421 meters 0.060049201925268685 Centerline is valid? [True, True] Translation: X:59.97, Y:-6.64, Z:-6.19 [[ 9.84251312e-01 1.63891262e-01 6.62495910e-02 5.99659856e+01] [-1.63349511e-01 9.86475204e-01 -1.35502079e-02 -6.64096151e+00] [-6.75743395e-02 2.51497164e-03 9.97711072e-01 -6.18504959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.197719420999995 meters 0.06150289163609415 Centerline is valid? [True, True] Translation: X:60.00, Y:-6.64, Z:-6.19 [[ 9.85139598e-01 1.59617685e-01 6.34205528e-02 5.99959575e+01] [-1.59110579e-01 9.87175170e-01 -1.30002471e-02 -6.64413086e+00] [-6.46822644e-02 2.71617735e-03 9.97902213e-01 -6.19002966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.227719420999996 meters 0.06397427130764222 Centerline is valid? [True, True] Translation: X:60.02, Y:-6.65, Z:-6.20 [[ 9.85611530e-01 1.57120751e-01 6.23135742e-02 6.00244812e+01] [-1.56626164e-01 9.87575342e-01 -1.27745188e-02 -6.65078067e+00] [-6.35464914e-02 2.83077690e-03 9.97974864e-01 -6.19608354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.257719421 meters 0.06580281897166161 Centerline is valid? [True, True] Translation: X:60.05, Y:-6.66, Z:-6.20 [[ 9.86003606e-01 1.55251839e-01 6.07762744e-02 6.00542122e+01] [-1.54777898e-01 9.87870734e-01 -1.24585285e-02 -6.65524977e+00] [-6.19733123e-02 2.87733003e-03 9.98073659e-01 -6.20145821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.287719421 meters 0.06484682164395009 Centerline is valid? [True, True] Translation: X:60.09, Y:-6.65, Z:-6.20 [[ 9.86118568e-01 1.54317167e-01 6.12893333e-02 6.00883187e+01] [-1.53833992e-01 9.88016954e-01 -1.25539137e-02 -6.65091606e+00] [-6.24921849e-02 2.95126456e-03 9.98041090e-01 -6.20149977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.317719421 meters 0.06380457324845686 Centerline is valid? [True, True] Translation: X:60.12, Y:-6.65, Z:-6.20 [[ 9.85843505e-01 1.55255648e-01 6.33108738e-02 6.01208211e+01] [-1.54740010e-01 9.87869718e-01 -1.29980798e-02 -6.64845396e+00] [-6.45609204e-02 3.01734732e-03 9.97909206e-01 -6.20169888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.347719421 meters 0.06365483132401421 Centerline is valid? [True, True] Translation: X:60.15, Y:-6.65, Z:-6.20 [[ 9.85555271e-01 1.56476163e-01 6.47766766e-02 6.01517744e+01] [-1.55938764e-01 9.87677153e-01 -1.33020127e-02 -6.65024548e+00] [-6.60598914e-02 3.00867387e-03 9.97811124e-01 -6.20480010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.377719420999995 meters 0.05947327900270382 Centerline is valid? [True, True] Translation: X:60.19, Y:-6.64, Z:-6.21 [[ 9.84486786e-01 1.62747297e-01 6.55674147e-02 6.01866255e+01] [-1.62210270e-01 9.86664296e-01 -1.34682787e-02 -6.63536637e+00] [-6.68849531e-02 2.62363437e-03 9.97757245e-01 -6.20518055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.407719420999996 meters 0.05732535543189953 Centerline is valid? [True, True] Translation: X:60.22, Y:-6.63, Z:-6.21 [[ 9.83507283e-01 1.68346268e-01 6.61283460e-02 6.02178165e+01] [-1.67812455e-01 9.85725320e-01 -1.35858155e-02 -6.62793987e+00] [-6.74715064e-02 2.26458840e-03 9.97718631e-01 -6.20915790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.437719421 meters 0.05306045234458491 Centerline is valid? [True, True] Translation: X:60.25, Y:-6.61, Z:-6.22 [[ 9.80849125e-01 1.83215661e-01 6.60833965e-02 6.02515284e+01] [-1.82716256e-01 9.83071962e-01 -1.35752629e-02 -6.60597834e+00] [-6.74519350e-02 1.24077402e-03 9.97721753e-01 -6.21652162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.467719421 meters 0.051235573529494954 Centerline is valid? [True, True] Translation: X:60.28, Y:-6.60, Z:-6.22 [[ 9.79559890e-01 1.89883998e-01 6.63813941e-02 6.02827495e+01] [-1.89395321e-01 9.81806218e-01 -1.36367997e-02 -6.59799117e+00] [-6.77630755e-02 7.85736535e-04 9.97701132e-01 -6.21875254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.497719421 meters 0.05046108050968431 Centerline is valid? [True, True] Translation: X:60.32, Y:-6.58, Z:-6.22 [[ 9.77348400e-01 2.01296632e-01 6.53434830e-02 6.03155766e+01] [-2.00848916e-01 9.79530329e-01 -1.34181699e-02 -6.58164169e+00] [-6.67069558e-02 -9.94079365e-06 9.97772610e-01 -6.22400646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.527719421 meters 0.050411117044187076 Centerline is valid? [True, True] Translation: X:60.35, Y:-6.58, Z:-6.23 [[ 9.76449977e-01 2.05636558e-01 6.52613847e-02 6.03452477e+01] [-2.05200009e-01 9.78628382e-01 -1.33957896e-02 -6.57845816e+00] [-6.66213074e-02 -3.11318253e-04 9.97778284e-01 -6.22578462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.557719421 meters 0.050958269358680704 Centerline is valid? [True, True] Translation: X:60.38, Y:-6.57, Z:-6.23 [[ 9.75082544e-01 2.11581724e-01 6.66873834e-02 6.03752145e+01] [-2.11140052e-01 9.77360031e-01 -1.36838655e-02 -6.57374610e+00] [-6.80728389e-02 -7.37479238e-04 9.97680081e-01 -6.22787461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.587719420999996 meters 0.05223943881457657 Centerline is valid? [True, True] Translation: X:60.40, Y:-6.57, Z:-6.24 [[ 9.75059113e-01 2.12495741e-01 6.40725024e-02 6.04036350e+01] [-2.12090651e-01 9.77161682e-01 -1.31378246e-02 -6.57393485e+00] [-6.54009260e-02 -7.79023146e-04 9.97858764e-01 -6.23672286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.617719421 meters 0.05176594985348424 Centerline is valid? [True, True] Translation: X:60.43, Y:-6.58, Z:-6.24 [[ 9.75179178e-01 2.12612802e-01 6.18172100e-02 6.04321315e+01] [-2.12236311e-01 9.77136230e-01 -1.26702771e-02 -6.57933161e+00] [-6.30976987e-02 -7.64066163e-04 9.98007062e-01 -6.23760486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.647719421 meters 0.05212258473645803 Centerline is valid? [True, True] Translation: X:60.46, Y:-6.58, Z:-6.24 [[ 9.75057967e-01 2.13179911e-01 6.17761059e-02 6.04607075e+01] [-2.12805406e-01 9.77012629e-01 -1.26563341e-02 -6.58365970e+00] [-6.30541118e-02 -8.05629914e-04 9.98009784e-01 -6.24173344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.677719421 meters 0.05311551570457392 Centerline is valid? [True, True] Translation: X:60.49, Y:-6.59, Z:-6.24 [[ 9.74218362e-01 2.16557061e-01 6.32583778e-02 6.04885371e+01] [-2.16171781e-01 9.76269394e-01 -1.29549950e-02 -6.58611193e+00] [-6.45627138e-02 -1.05368216e-03 9.97913095e-01 -6.24489580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.707719421 meters 0.05285988360575328 Centerline is valid? [True, True] Translation: X:60.52, Y:-6.59, Z:-6.25 [[ 9.74025730e-01 2.17425930e-01 6.32443054e-02 6.05162174e+01] [-2.17043146e-01 9.76076182e-01 -1.29444547e-02 -6.59306096e+00] [-6.45457203e-02 -1.11851105e-03 9.97914124e-01 -6.24587229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.737719421 meters 0.053305346214427625 Centerline is valid? [True, True] Translation: X:60.54, Y:-6.60, Z:-6.25 [[ 9.73964503e-01 2.16995987e-01 6.56192722e-02 6.05426068e+01] [-2.16583280e-01 9.76171834e-01 -1.34250806e-02 -6.60193305e+00] [-6.69688739e-02 -1.13648523e-03 9.97754418e-01 -6.24938594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.767719420999995 meters 0.05258306978498557 Centerline is valid? [True, True] Translation: X:60.57, Y:-6.61, Z:-6.25 [[ 9.74576344e-01 2.14167838e-01 6.58261851e-02 6.05686979e+01] [-2.13746583e-01 9.76796412e-01 -1.34598730e-02 -6.61435197e+00] [-6.71814533e-02 -9.52448293e-04 9.97740320e-01 -6.25226992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.797719421 meters 0.052105282032777284 Centerline is valid? [True, True] Translation: X:60.60, Y:-6.63, Z:-6.26 [[ 9.75273050e-01 2.11638945e-01 6.36508814e-02 6.05958593e+01] [-2.11240174e-01 9.77347625e-01 -1.30080078e-02 -6.62502082e+00] [-6.49620388e-02 -7.59263869e-04 9.97887447e-01 -6.25569600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.827719421 meters 0.05159149524711281 Centerline is valid? [True, True] Translation: X:60.62, Y:-6.64, Z:-6.26 [[ 9.77727175e-01 2.00927376e-01 6.06445472e-02 6.06192700e+01] [-2.00544981e-01 9.79606139e-01 -1.23904447e-02 -6.64394814e+00] [-6.18973503e-02 -4.74850982e-05 9.98082520e-01 -6.26253754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.857719421 meters 0.052117430734918625 Centerline is valid? [True, True] Translation: X:60.65, Y:-6.66, Z:-6.27 [[ 9.79092037e-01 1.94739977e-01 5.87803073e-02 6.06456465e+01] [-1.94370139e-01 9.80854850e-01 -1.20005414e-02 -6.65820361e+00] [-5.99919346e-02 3.24498016e-04 9.98198809e-01 -6.26697582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.887719421 meters 0.055146233824439735 Centerline is valid? [True, True] Translation: X:60.67, Y:-6.68, Z:-6.27 [[ 9.81653657e-01 1.81651477e-01 5.79554929e-02 6.06694600e+01] [-1.81269503e-01 9.83362357e-01 -1.18255299e-02 -6.68404218e+00] [-5.91393751e-02 1.10301132e-03 9.98249126e-01 -6.27322505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.917719421 meters 0.056632188705294746 Centerline is valid? [True, True] Translation: X:60.70, Y:-6.70, Z:-6.27 [[ 9.82823277e-01 1.75167661e-01 5.80921335e-02 6.06975319e+01] [-1.74772810e-01 9.84537487e-01 -1.18491521e-02 -6.69894718e+00] [-5.92694713e-02 1.49269713e-03 9.98240904e-01 -6.27400224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.947719420999995 meters 0.05844037884745071 Centerline is valid? [True, True] Translation: X:60.73, Y:-6.72, Z:-6.27 [[ 9.84157130e-01 1.66081597e-01 6.20616383e-02 6.07268641e+01] [-1.65612920e-01 9.86109607e-01 -1.26571438e-02 -6.71712576e+00] [-6.33016965e-02 2.17840923e-03 9.97992059e-01 -6.26883335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.977719420999996 meters 0.060627523903807705 Centerline is valid? [True, True] Translation: X:60.76, Y:-6.73, Z:-6.27 [[ 9.84390694e-01 1.64504004e-01 6.25571264e-02 6.07559335e+01] [-1.64025021e-01 9.86373752e-01 -1.27519888e-02 -6.72830274e+00] [-6.38024607e-02 2.29200511e-03 9.97959915e-01 -6.27429932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.007719421 meters 0.05988492606046987 Centerline is valid? [True, True] Translation: X:60.79, Y:-6.73, Z:-6.28 [[ 9.83926877e-01 1.67203659e-01 6.26963873e-02 6.07867366e+01] [-1.66726286e-01 9.85920038e-01 -1.28071764e-02 -6.73053834e+00] [-6.39550313e-02 2.14818931e-03 9.97950469e-01 -6.27805598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.037719421 meters 0.05623730381199039 Centerline is valid? [True, True] Translation: X:60.82, Y:-6.73, Z:-6.28 [[ 9.83386388e-01 1.69969881e-01 6.37295134e-02 6.08196551e+01] [-1.69482197e-01 9.85447219e-01 -1.30216183e-02 -6.72744409e+00] [-6.50153547e-02 2.00426422e-03 9.97882251e-01 -6.27503815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.067719421 meters 0.056802618243644964 Centerline is valid? [True, True] Translation: X:60.85, Y:-6.73, Z:-6.28 [[ 9.82422922e-01 1.75051603e-01 6.48239117e-02 6.08489441e+01] [-1.74557881e-01 9.84557794e-01 -1.32475253e-02 -6.73058084e+00] [-6.61418880e-02 1.69914785e-03 9.97808781e-01 -6.28379730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.097719421 meters 0.05625573648186192 Centerline is valid? [True, True] Translation: X:60.88, Y:-6.73, Z:-6.29 [[ 9.82135081e-01 1.76733264e-01 6.46222590e-02 6.08783691e+01] [-1.76246153e-01 9.84257512e-01 -1.32077246e-02 -6.73299897e+00] [-6.59391881e-02 1.58234513e-03 9.97822389e-01 -6.28719057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.127719420999995 meters 0.05625573648186192 Centerline is valid? [True, True] Translation: X:60.91, Y:-6.74, Z:-6.29 [[ 9.82148404e-01 1.76659127e-01 6.46224855e-02 6.09060252e+01] [-1.76171929e-01 9.84270815e-01 -1.32066164e-02 -6.73853575e+00] [-6.59390958e-02 1.58618932e-03 9.97822389e-01 -6.29009409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.157719420999996 meters 0.05322657236053242 Centerline is valid? [True, True] Translation: X:60.94, Y:-6.73, Z:-6.29 [[ 9.81449690e-01 1.80280473e-01 6.52338619e-02 6.09384485e+01] [-1.79792411e-01 9.83614320e-01 -1.33251100e-02 -6.73216727e+00] [-6.65672178e-02 1.34937175e-03 9.97781030e-01 -6.28642872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.187719421 meters 0.05218813379102168 Centerline is valid? [True, True] Translation: X:60.97, Y:-6.73, Z:-6.29 [[ 9.80630962e-01 1.84467229e-01 6.58388731e-02 6.09681360e+01] [-1.83979569e-01 9.82838078e-01 -1.34473016e-02 -6.73036374e+00] [-6.71895380e-02 1.07383289e-03 9.97739652e-01 -6.28884184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.217719421 meters 0.05173472640322753 Centerline is valid? [True, True] Translation: X:61.00, Y:-6.73, Z:-6.29 [[ 9.80080916e-01 1.87255267e-01 6.61578622e-02 6.09970973e+01] [-1.86769602e-01 9.82310892e-01 -1.35065682e-02 -6.73117323e+00] [-6.75167646e-02 8.81252161e-04 9.97717751e-01 -6.29198282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.247719421 meters 0.050773490812764124 Centerline is valid? [True, True] Translation: X:61.03, Y:-6.72, Z:-6.30 [[ 9.78643503e-01 1.94091886e-01 6.77143575e-02 6.10277038e+01] [-1.93599818e-01 9.80983266e-01 -1.38181629e-02 -6.72260363e+00] [-6.91086449e-02 4.13568027e-04 9.97609054e-01 -6.29519470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.277719421 meters 0.04988255550783743 Centerline is valid? [True, True] Translation: X:61.06, Y:-6.72, Z:-6.29 [[ 9.77655247e-01 1.98242213e-01 6.99302782e-02 6.10579859e+01] [-1.97728409e-01 9.80153055e-01 -1.42641301e-02 -6.72005023e+00] [-7.13701285e-02 1.18198956e-04 9.97449894e-01 -6.29316515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.307719421 meters 0.0505951186503606 Centerline is valid? [True, True] Translation: X:61.09, Y:-6.71, Z:-6.30 [[ 9.76073408e-01 2.05603894e-01 7.07653970e-02 6.10868782e+01] [-2.05097450e-01 9.78635199e-01 -1.44285366e-02 -6.71393075e+00] [-7.22200717e-02 -4.30491557e-04 9.97388628e-01 -6.30048247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.337719420999996 meters 0.05107217195417937 Centerline is valid? [True, True] Translation: X:61.11, Y:-6.71, Z:-6.30 [[ 9.75471348e-01 2.08498329e-01 7.05981355e-02 6.11148137e+01] [-2.08002272e-01 9.78022508e-01 -1.43885010e-02 -6.71236554e+00] [-7.20465439e-02 -6.49002136e-04 9.97401060e-01 -6.30440760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.367719421 meters 0.051418127568301414 Centerline is valid? [True, True] Translation: X:61.14, Y:-6.71, Z:-6.31 [[ 9.75210786e-01 2.09834956e-01 7.02368481e-02 6.11436174e+01] [-2.09348566e-01 9.77736526e-01 -1.42990652e-02 -6.71498340e+00] [-7.16735756e-02 -7.59380800e-04 9.97427853e-01 -6.30774819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.397719421 meters 0.05108826592134938 Centerline is valid? [True, True] Translation: X:61.17, Y:-6.72, Z:-6.31 [[ 9.74930138e-01 2.11448727e-01 6.92868106e-02 6.11721091e+01] [-2.10979872e-01 9.77388703e-01 -1.41002422e-02 -6.72014929e+00] [-7.07016242e-02 -8.71371326e-04 9.97497128e-01 -6.30661777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.427719421 meters 0.05244321554211494 Centerline is valid? [True, True] Translation: X:61.20, Y:-6.72, Z:-6.31 [[ 9.74037271e-01 2.16207727e-01 6.71238600e-02 6.12001909e+01] [-2.15779396e-01 9.76346668e-01 -1.36541629e-02 -6.72171359e+00] [-6.84882926e-02 -1.18428243e-03 9.97651217e-01 -6.31213530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.457719421 meters 0.05426705821429567 Centerline is valid? [True, True] Translation: X:61.23, Y:-6.72, Z:-6.31 [[ 9.72500047e-01 2.22331873e-01 6.93699946e-02 6.12282106e+01] [-2.21890195e-01 9.74969608e-01 -1.41068784e-02 -6.72411910e+00] [-7.07700451e-02 -1.67358172e-03 9.97491253e-01 -6.31463842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.487719421 meters 0.055113619106110665 Centerline is valid? [True, True] Translation: X:61.26, Y:-6.73, Z:-6.32 [[ 9.71951295e-01 2.25004910e-01 6.84358809e-02 6.12560735e+01] [-2.24582124e-01 9.74355875e-01 -1.39103854e-02 -6.73072562e+00] [-6.98108076e-02 -1.84925843e-03 9.97558535e-01 -6.31716772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.517719420999995 meters 0.057351230289668584 Centerline is valid? [True, True] Translation: X:61.29, Y:-6.74, Z:-6.32 [[ 9.71019884e-01 2.29648488e-01 6.61963571e-02 6.12853776e+01] [-2.29265797e-01 9.73271281e-01 -1.34241485e-02 -6.73871187e+00] [-6.75098487e-02 -2.14144545e-03 9.97716310e-01 -6.32240813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.547719421 meters 0.058037722766382506 Centerline is valid? [True, True] Translation: X:61.31, Y:-6.74, Z:-6.32 [[ 9.70547643e-01 2.31744627e-01 6.58156496e-02 6.13135628e+01] [-2.31370381e-01 9.72774026e-01 -1.33581624e-02 -6.74464424e+00] [-6.71194368e-02 -2.26305891e-03 9.97742381e-01 -6.32448670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.577719421 meters 0.059653522962833355 Centerline is valid? [True, True] Translation: X:61.34, Y:-6.75, Z:-6.33 [[ 9.70080267e-01 2.33838109e-01 6.52994169e-02 6.13400783e+01] [-2.33476336e-01 9.72272544e-01 -1.32250342e-02 -6.75294254e+00] [-6.65813472e-02 -2.41652384e-03 9.97778074e-01 -6.32883459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.607719421 meters 0.05995682654831839 Centerline is valid? [True, True] Translation: X:61.37, Y:-6.77, Z:-6.33 [[ 9.70276056e-01 2.33500761e-01 6.35749154e-02 6.13651146e+01] [-2.33157588e-01 9.72353811e-01 -1.28687465e-02 -6.77019727e+00] [-6.48221734e-02 -2.33673737e-03 9.97894095e-01 -6.33327904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.637719421 meters 0.05903284207314146 Centerline is valid? [True, True] Translation: X:61.39, Y:-6.78, Z:-6.34 [[ 9.70842478e-01 2.31226802e-01 6.32380293e-02 6.13918343e+01] [-2.30882961e-01 9.72897430e-01 -1.27925388e-02 -6.78408692e+00] [-6.44820940e-02 -2.18104340e-03 9.97916481e-01 -6.33639340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.667719421 meters 0.05632654140643818 Centerline is valid? [True, True] Translation: X:61.42, Y:-6.81, Z:-6.34 [[ 9.72850948e-01 2.22592180e-01 6.33541966e-02 6.14165454e+01] [-2.22229254e-01 9.74910305e-01 -1.28084506e-02 -6.80827860e+00] [-6.46157200e-02 -1.61844257e-03 9.97908908e-01 -6.33884405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.697719420999995 meters 0.05479068623696571 Centerline is valid? [True, True] Translation: X:61.44, Y:-6.82, Z:-6.34 [[ 9.73952201e-01 2.17436223e-01 6.43319411e-02 6.14440063e+01] [-2.17051011e-01 9.76073665e-01 -1.30022737e-02 -6.82335517e+00] [-6.56198788e-02 -1.29971971e-03 9.97843847e-01 -6.34055920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.727719420999996 meters 0.052642546555542714 Centerline is valid? [True, True] Translation: X:61.47, Y:-6.84, Z:-6.34 [[ 9.75951909e-01 2.08107559e-01 6.48777029e-02 6.14706524e+01] [-2.07695246e-01 9.78105712e-01 -1.31111237e-02 -6.84409560e+00] [-6.61857757e-02 -6.78964286e-04 9.97807087e-01 -6.34074066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.757719421 meters 0.05234168943162264 Centerline is valid? [True, True] Translation: X:61.50, Y:-6.85, Z:-6.34 [[ 9.76769178e-01 2.04118006e-01 6.52519237e-02 6.14967505e+01] [-2.03691910e-01 9.78946205e-01 -1.31883961e-02 -6.85472029e+00] [-6.65701122e-02 -4.09270123e-04 9.97781666e-01 -6.34454158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.787719421 meters 0.05192805780737679 Centerline is valid? [True, True] Translation: X:61.52, Y:-6.87, Z:-6.35 [[ 9.77958767e-01 1.98354636e-01 6.52080470e-02 6.15231411e+01] [-1.97916946e-01 9.80130317e-01 -1.31698328e-02 -6.87197306e+00] [-6.65246811e-02 -2.62240419e-05 9.97784779e-01 -6.34664149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.817719421 meters 0.052084630453575136 Centerline is valid? [True, True] Translation: X:61.55, Y:-6.88, Z:-6.35 [[ 9.78358581e-01 1.96295195e-01 6.54422214e-02 6.15502355e+01] [-1.95849896e-01 9.80544840e-01 -1.32149245e-02 -6.88171936e+00] [-6.67630587e-02 1.12082526e-04 9.97768852e-01 -6.35010605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.847719421 meters 0.05208154951699104 Centerline is valid? [True, True] Translation: X:61.58, Y:-6.89, Z:-6.35 [[ 9.78731152e-01 1.94384731e-01 6.55736892e-02 6.15788092e+01] [-1.93933699e-01 9.80925339e-01 -1.32363365e-02 -6.89157513e+00] [-6.68958350e-02 2.37866761e-04 9.97759936e-01 -6.35260250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.877719420999995 meters 0.05231791105344472 Centerline is valid? [True, True] Translation: X:61.61, Y:-6.90, Z:-6.36 [[ 9.78883471e-01 1.93934694e-01 6.46257265e-02 6.16084786e+01] [-1.93495932e-01 9.81014407e-01 -1.30406082e-02 -6.89754937e+00] [-6.59277951e-02 2.60420588e-04 9.97824362e-01 -6.35795716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.907719420999996 meters 0.05242384405972109 Centerline is valid? [True, True] Translation: X:61.64, Y:-6.90, Z:-6.36 [[ 9.78729103e-01 1.94854655e-01 6.41950609e-02 6.16377509e+01] [-1.94423602e-01 9.80832108e-01 -1.29552775e-02 -6.90329013e+00] [-6.54889730e-02 1.98672196e-04 9.97853273e-01 -6.36187583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.937719421 meters 0.05216497763061606 Centerline is valid? [True, True] Translation: X:61.67, Y:-6.91, Z:-6.36 [[ 9.78444309e-01 1.96498984e-01 6.35207405e-02 6.16667401e+01] [-1.96080580e-01 9.80504025e-01 -1.28165523e-02 -6.90851087e+00] [-6.48007812e-02 8.50990713e-05 9.97898217e-01 -6.36171749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.967719421 meters 0.05220023782682689 Centerline is valid? [True, True] Translation: X:61.70, Y:-6.91, Z:-6.36 [[ 9.77259321e-01 2.02123846e-01 6.41106076e-02 6.16951491e+01] [-2.01709721e-01 9.79359927e-01 -1.29353084e-02 -6.90961697e+00] [-6.54018943e-02 -2.90582036e-04 9.97858962e-01 -6.36321378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.997719421 meters 0.05254975123115052 Centerline is valid? [True, True] Translation: X:61.72, Y:-6.91, Z:-6.37 [[ 9.76799052e-01 2.04306791e-01 6.42055054e-02 6.17227977e+01] [-2.03896678e-01 9.78906807e-01 -1.29463532e-02 -6.91237135e+00] [-6.54962341e-02 -4.45303682e-04 9.97852717e-01 -6.36734853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.027719421 meters 0.053643351950458086 Centerline is valid? [True, True] Translation: X:61.75, Y:-6.91, Z:-6.37 [[ 9.75533466e-01 2.09959007e-01 6.52048502e-02 6.17506298e+01] [-2.09549091e-01 9.77709825e-01 -1.31406362e-02 -6.91242565e+00] [-6.65104176e-02 -8.44486704e-04 9.97785373e-01 -6.37161301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.057719421 meters 0.05459762924880582 Centerline is valid? [True, True] Translation: X:61.78, Y:-6.92, Z:-6.38 [[ 9.75035345e-01 2.12497516e-01 6.44273359e-02 6.17788731e+01] [-2.12103421e-01 9.77161081e-01 -1.29753907e-02 -6.91578774e+00] [-6.57131235e-02 -1.01379384e-03 9.97838042e-01 -6.37594897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.087719420999996 meters 0.0551777103662648 Centerline is valid? [True, True] Translation: X:61.81, Y:-6.92, Z:-6.38 [[ 9.74267049e-01 2.16753539e-01 6.18192499e-02 6.18082373e+01] [-2.16399677e-01 9.76225553e-01 -1.24438313e-02 -6.92083328e+00] [-6.30467759e-02 -1.25405089e-03 9.98009785e-01 -6.37827950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.117719421 meters 0.05689599493827559 Centerline is valid? [True, True] Translation: X:61.84, Y:-6.92, Z:-6.38 [[ 9.73249177e-01 2.21440299e-01 6.12391550e-02 6.18363493e+01] [-2.21102369e-01 9.75172708e-01 -1.23260662e-02 -6.92293563e+00] [-6.24482404e-02 -1.54378849e-03 9.98047010e-01 -6.38336550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.147719421 meters 0.05812804634803784 Centerline is valid? [True, True] Translation: X:61.86, Y:-6.93, Z:-6.39 [[ 9.72530672e-01 2.24090124e-01 6.29897483e-02 6.18642974e+01] [-2.23738454e-01 9.74566822e-01 -1.26733512e-02 -6.92627589e+00] [-6.42276917e-02 -1.76800618e-03 9.97933704e-01 -6.38590562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.177719421 meters 0.057456723824848226 Centerline is valid? [True, True] Translation: X:61.89, Y:-6.93, Z:-6.38 [[ 9.71342685e-01 2.28471414e-01 6.55301620e-02 6.18924838e+01] [-2.28101269e-01 9.73548250e-01 -1.31763092e-02 -6.93385986e+00] [-6.68071845e-02 -2.14880162e-03 9.97763591e-01 -6.38108591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.207719421 meters 0.06039427948461029 Centerline is valid? [True, True] Translation: X:61.92, Y:-6.94, Z:-6.39 [[ 9.71113266e-01 2.29882457e-01 6.39771812e-02 6.19202439e+01] [-2.29533105e-01 9.73215918e-01 -1.28580760e-02 -6.93500535e+00] [-6.52194573e-02 -2.19823289e-03 9.97868523e-01 -6.38971987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.237719421 meters 0.0610438654585567 Centerline is valid? [True, True] Translation: X:61.95, Y:-6.95, Z:-6.40 [[ 9.71894417e-01 2.27848574e-01 5.92137601e-02 6.19462184e+01] [-2.27545907e-01 9.73694699e-01 -1.18950741e-02 -6.94681294e+00] [-6.03664000e-02 -1.91309260e-03 9.98174453e-01 -6.40021722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.267719420999995 meters 0.06046903052143956 Centerline is valid? [True, True] Translation: X:61.97, Y:-6.96, Z:-6.41 [[ 9.72696848e-01 2.24967499e-01 5.70128526e-02 6.19714620e+01] [-2.24682079e-01 9.74364835e-01 -1.14512851e-02 -6.95744576e+00] [-5.81274857e-02 -1.67113727e-03 9.98307770e-01 -6.40675898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.297719421 meters 0.055942646607397166 Centerline is valid? [True, True] Translation: X:62.00, Y:-6.98, Z:-6.40 [[ 9.74464709e-01 2.17067188e-01 5.74488216e-02 6.19985733e+01] [-2.16764216e-01 9.76155906e-01 -1.15291888e-02 -6.97859968e+00] [-5.85816151e-02 -1.21806121e-03 9.98281879e-01 -6.40372125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.327719421 meters 0.05433676431016591 Centerline is valid? [True, True] Translation: X:62.03, Y:-6.99, Z:-6.40 [[ 9.75202467e-01 2.12936702e-01 6.03167475e-02 6.20265609e+01] [-2.12594839e-01 9.77065465e-01 -1.21041993e-02 -6.99164022e+00] [-6.15108392e-02 -1.01898423e-03 9.98105895e-01 -6.40302786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.357719421 meters 0.05219802399427575 Centerline is valid? [True, True] Translation: X:62.05, Y:-7.01, Z:-6.40 [[ 9.76140200e-01 2.06424553e-01 6.73736885e-02 6.20529317e+01] [-2.05982728e-01 9.78462281e-01 -1.35159249e-02 -7.01331425e+00] [-6.87126317e-02 -6.84378555e-04 9.97636259e-01 -6.39959343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.387719421 meters 0.0512145834534034 Centerline is valid? [True, True] Translation: X:62.08, Y:-7.03, Z:-6.40 [[ 9.76643791e-01 2.03184695e-01 6.98776398e-02 6.20824020e+01] [-2.02701353e-01 9.79140313e-01 -1.40146095e-02 -7.02723442e+00] [-7.12675683e-02 -4.77010792e-04 9.97457120e-01 -6.39831218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.417719421 meters 0.05133958244372435 Centerline is valid? [True, True] Translation: X:62.11, Y:-7.05, Z:-6.41 [[ 9.78428581e-01 1.95126116e-01 6.78477060e-02 6.21096814e+01] [-1.94651453e-01 9.80778155e-01 -1.36023294e-02 -7.04670938e+00] [-6.91977175e-02 1.02253267e-04 9.97602960e-01 -6.40576849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.447719420999995 meters 0.05200088182211678 Centerline is valid? [True, True] Translation: X:62.14, Y:-7.06, Z:-6.41 [[ 9.79619391e-01 1.89950205e-01 6.53051901e-02 6.21385905e+01] [-1.89497747e-01 9.81793614e-01 -1.31112163e-02 -7.06094324e+00] [-6.66066969e-02 4.68815341e-04 9.97779198e-01 -6.41164707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.477719420999996 meters 0.05383048622870459 Centerline is valid? [True, True] Translation: X:62.17, Y:-7.08, Z:-6.42 [[ 9.81627783e-01 1.80424077e-01 6.20809783e-02 6.21659856e+01] [-1.79994505e-01 9.83588314e-01 -1.24902571e-02 -7.08059187e+00] [-6.33156679e-02 1.08654847e-03 9.97992959e-01 -6.41834598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.507719421 meters 0.055864726490735005 Centerline is valid? [True, True] Translation: X:62.19, Y:-7.09, Z:-6.42 [[ 9.82714254e-01 1.74722402e-01 6.11945831e-02 6.21933458e+01] [-1.74293966e-01 9.84616691e-01 -1.23120102e-02 -7.09416416e+00] [-6.24043919e-02 1.43334134e-03 9.98049917e-01 -6.42221147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.537719421 meters 0.05590893231237981 Centerline is valid? [True, True] Translation: X:62.23, Y:-7.10, Z:-6.42 [[ 9.82761122e-01 1.74176101e-01 6.19940494e-02 6.22257892e+01] [-1.73735431e-01 9.84713400e-01 -1.24707777e-02 -7.10120722e+00] [-6.32184826e-02 1.48523265e-03 9.97998606e-01 -6.42362160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.567719421 meters 0.05581778266873977 Centerline is valid? [True, True] Translation: X:62.26, Y:-7.11, Z:-6.42 [[ 9.82739930e-01 1.73983663e-01 6.28642582e-02 6.22569102e+01] [-1.73528538e-01 9.84747330e-01 -1.26705339e-02 -7.10813528e+00] [-6.41098763e-02 1.54309677e-03 9.97941653e-01 -6.42458559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.597719421 meters 0.055138248078720274 Centerline is valid? [True, True] Translation: X:62.29, Y:-7.12, Z:-6.42 [[ 9.82740718e-01 1.73239618e-01 6.48746118e-02 6.22888343e+01] [-1.72751875e-01 9.84878301e-01 -1.30966189e-02 -7.11513331e+00] [-6.61624507e-02 1.66336984e-03 9.97807478e-01 -6.42295284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.627719420999995 meters 0.055977526427846556 Centerline is valid? [True, True] Translation: X:62.32, Y:-7.12, Z:-6.43 [[ 9.82700396e-01 1.73493470e-01 6.48070048e-02 6.23199099e+01] [-1.73005928e-01 9.84833612e-01 -1.31036315e-02 -7.12255113e+00] [-6.60975112e-02 1.66494786e-03 9.97811779e-01 -6.42930207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.657719420999996 meters 0.054976109941259656 Centerline is valid? [True, True] Translation: X:62.35, Y:-7.12, Z:-6.43 [[ 9.82011178e-01 1.77216279e-01 6.51800351e-02 6.23525078e+01] [-1.76729671e-01 9.84170868e-01 -1.32032206e-02 -7.11900753e+00] [-6.64881174e-02 1.44646405e-03 9.97786168e-01 -6.43410862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.687719421 meters 0.053922725884111254 Centerline is valid? [True, True] Translation: X:62.39, Y:-7.12, Z:-6.44 [[ 9.81233241e-01 1.81209633e-01 6.59120351e-02 6.23850001e+01] [-1.80718953e-01 9.83443736e-01 -1.33819865e-02 -7.11750143e+00] [-6.72457229e-02 1.21929595e-03 9.97735700e-01 -6.43656962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.717719421 meters 0.051378501306380026 Centerline is valid? [True, True] Translation: X:62.42, Y:-7.10, Z:-6.43 [[ 9.79071062e-01 1.91373989e-01 6.92520958e-02 6.24201056e+01] [-1.90857316e-01 9.81517036e-01 -1.40639025e-02 -7.10385638e+00] [-7.06635769e-02 5.52290755e-04 9.97500052e-01 -6.43383828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.747719421 meters 0.050631289112848185 Centerline is valid? [True, True] Translation: X:62.46, Y:-7.09, Z:-6.43 [[ 9.76500494e-01 2.03513646e-01 7.09153111e-02 6.24555342e+01] [-2.03003645e-01 9.79072053e-01 -1.44025795e-02 -7.09030585e+00] [-7.23623207e-02 -3.31940599e-04 9.97378356e-01 -6.43272779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.777719421 meters 0.051423877399689455 Centerline is valid? [True, True] Translation: X:62.49, Y:-7.09, Z:-6.44 [[ 9.75239523e-01 2.09857339e-01 6.97694104e-02 6.24856931e+01] [-2.09379338e-01 9.77731705e-01 -1.41776690e-02 -7.08668013e+00] [-7.11910524e-02 -7.81649814e-04 9.97462392e-01 -6.43857315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.807719421 meters 0.05680698226584987 Centerline is valid? [True, True] Translation: X:62.52, Y:-7.07, Z:-6.46 [[ 9.73394147e-01 2.20587292e-01 6.20087199e-02 6.25159059e+01] [-2.20231710e-01 9.75366240e-01 -1.25972678e-02 -7.07385743e+00] [-6.32600092e-02 -1.39417966e-03 9.97996106e-01 -6.45902575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.837719420999996 meters 0.05668020874371928 Centerline is valid? [True, True] Translation: X:62.55, Y:-7.08, Z:-6.46 [[ 9.72774969e-01 2.24196094e-01 5.86938697e-02 6.25456982e+01] [-2.23883837e-01 9.74542841e-01 -1.19280973e-02 -7.07873881e+00] [-5.98739233e-02 -1.53725431e-03 9.98204764e-01 -6.45970798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.867719421 meters 0.058244847290893124 Centerline is valid? [True, True] Translation: X:62.57, Y:-7.08, Z:-6.46 [[ 9.72082878e-01 2.27524666e-01 5.73358886e-02 6.25738258e+01] [-2.27232396e-01 9.73770833e-01 -1.16534592e-02 -7.07903573e+00] [-5.84834655e-02 -1.70044322e-03 9.98286929e-01 -6.46463781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.897719421 meters 0.05758415505625056 Centerline is valid? [True, True] Translation: X:62.60, Y:-7.09, Z:-6.46 [[ 9.71803302e-01 2.27467992e-01 6.21019652e-02 6.26035678e+01] [-2.27125540e-01 9.73783805e-01 -1.26130843e-02 -7.08528956e+00] [-6.33429609e-02 -1.84750543e-03 9.97990108e-01 -6.46176028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.927719421 meters 0.0570794207241001 Centerline is valid? [True, True] Translation: X:62.63, Y:-7.09, Z:-6.46 [[ 9.71771607e-01 2.26917327e-01 6.45636897e-02 6.26318190e+01] [-2.26545898e-01 9.73912204e-01 -1.31139174e-02 -7.09275921e+00] [-6.58551404e-02 -1.88290643e-03 9.97827418e-01 -6.46182502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.957719421 meters 0.057256350958336436 Centerline is valid? [True, True] Translation: X:62.66, Y:-7.10, Z:-6.46 [[ 9.71569310e-01 2.27407060e-01 6.58718878e-02 6.26596185e+01] [-2.27021951e-01 9.73797814e-01 -1.33735018e-02 -7.09930283e+00] [-6.71871291e-02 -1.96108053e-03 9.97738465e-01 -6.46431023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.987719421 meters 0.058495746505360435 Centerline is valid? [True, True] Translation: X:62.69, Y:-7.11, Z:-6.47 [[ 9.71157415e-01 2.29476321e-01 6.47602728e-02 6.26874006e+01] [-2.29109125e-01 9.73312033e-01 -1.31413761e-02 -7.10586321e+00] [-6.60475875e-02 -2.07482457e-03 9.97814317e-01 -6.47022004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.017719421 meters 0.058495746505360435 Centerline is valid? [True, True] Translation: X:62.71, Y:-7.11, Z:-6.47 [[ 9.71186369e-01 2.29353643e-01 6.47606537e-02 6.27142658e+01] [-2.28986300e-01 9.73340962e-01 -1.31394997e-02 -7.11114122e+00] [-6.60477891e-02 -2.06839946e-03 9.97814317e-01 -6.47303854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.047719421 meters 0.05893845546846319 Centerline is valid? [True, True] Translation: X:62.74, Y:-7.12, Z:-6.48 [[ 9.71233134e-01 2.29721577e-01 6.27231712e-02 6.27412807e+01] [-2.29378322e-01 9.73254259e-01 -1.27174199e-02 -7.11840016e+00] [-6.39670593e-02 -2.03575621e-03 9.97949934e-01 -6.47836555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.077719421 meters 0.05829377062487872 Centerline is valid? [True, True] Translation: X:62.77, Y:-7.13, Z:-6.49 [[ 9.72230746e-01 2.26085507e-01 6.04377437e-02 6.27670394e+01] [-2.25760248e-01 9.74105910e-01 -1.22468767e-02 -7.13053324e+00] [-6.16416047e-02 -1.73764994e-03 9.98096836e-01 -6.48623067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.107719421 meters 0.05780873827046419 Centerline is valid? [True, True] Translation: X:62.79, Y:-7.14, Z:-6.49 [[ 9.72729017e-01 2.23774420e-01 6.10185891e-02 6.27935570e+01] [-2.23438618e-01 9.74639633e-01 -1.23600270e-02 -7.13945945e+00] [-6.22369931e-02 -1.61095231e-03 9.98060099e-01 -6.49010425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.137719421 meters 0.05532236441920812 Centerline is valid? [True, True] Translation: X:62.82, Y:-7.16, Z:-6.49 [[ 9.73920295e-01 2.17637893e-01 6.41327277e-02 6.28196258e+01] [-2.17254219e-01 9.76028731e-01 -1.29815731e-02 -7.15633835e+00] [-6.54206671e-02 -1.29008816e-03 9.97856940e-01 -6.49024349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.167719421 meters 0.05372288130715697 Centerline is valid? [True, True] Translation: X:62.84, Y:-7.18, Z:-6.50 [[ 9.75940980e-01 2.09076044e-01 6.18579998e-02 6.28449086e+01] [-2.08702214e-01 9.77899139e-01 -1.25164203e-02 -7.17728482e+00] [-6.31077684e-02 -6.94614038e-04 9.98006476e-01 -6.49648882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.197719421 meters 0.05385395108840226 Centerline is valid? [True, True] Translation: X:62.87, Y:-7.19, Z:-6.50 [[ 9.76953415e-01 2.05129617e-01 5.90242725e-02 6.28732386e+01] [-2.04782250e-01 9.78734725e-01 -1.19401719e-02 -7.18991927e+00] [-6.02183880e-02 -4.22131655e-04 9.98185137e-01 -6.50364693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.227719421 meters 0.05454961913187273 Centerline is valid? [True, True] Translation: X:62.90, Y:-7.21, Z:-6.51 [[ 9.78687583e-01 1.97887122e-01 5.48753398e-02 6.29005248e+01] [-1.97575458e-01 9.80224814e-01 -1.11018785e-02 -7.20629103e+00] [-5.59870885e-02 2.32502332e-05 9.98431493e-01 -6.51273536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.257719421 meters 0.05384931276727712 Centerline is valid? [True, True] Translation: X:62.93, Y:-7.22, Z:-6.51 [[ 9.79099118e-01 1.95793483e-01 5.50438791e-02 6.29326787e+01] [-1.95477382e-01 9.80645142e-01 -1.11219585e-02 -7.21772131e+00] [-5.61561196e-02 1.29666438e-04 9.98421992e-01 -6.51117670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28771942099999 meters 0.05195545969393841 Centerline is valid? [True, True] Translation: X:62.96, Y:-7.23, Z:-6.50 [[ 9.78865850e-01 1.95453376e-01 6.01633320e-02 6.29633700e+01] [-1.95072695e-01 9.80712974e-01 -1.21945000e-02 -7.22852167e+00] [-6.13864164e-02 2.00556299e-04 9.98114055e-01 -6.50187479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31771942099999 meters 0.05191569762554418 Centerline is valid? [True, True] Translation: X:62.99, Y:-7.24, Z:-6.51 [[ 9.78370472e-01 1.97110662e-01 6.27583192e-02 6.29938151e+01] [-1.96700103e-01 9.80381241e-01 -1.27158071e-02 -7.23509659e+00] [-6.40335000e-02 9.62023433e-05 9.97947745e-01 -6.50536928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.347719421 meters 0.052288688063716275 Centerline is valid? [True, True] Translation: X:63.02, Y:-7.24, Z:-6.51 [[ 9.77446471e-01 2.02098436e-01 6.12749429e-02 6.30248178e+01] [-2.01716402e-01 9.79365190e-01 -1.24224917e-02 -7.23595629e+00] [-6.25211122e-02 -2.17840412e-04 9.98043618e-01 -6.51096881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.377719421 meters 0.05307482436387697 Centerline is valid? [True, True] Translation: X:63.06, Y:-7.24, Z:-6.52 [[ 9.76706018e-01 2.06352651e-01 5.88552294e-02 6.30562271e+01] [-2.06006944e-01 9.78477581e-01 -1.19483177e-02 -7.23730496e+00] [-6.00540895e-02 -4.54592145e-04 9.98195021e-01 -6.51799788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.407719421 meters 0.05513023372723159 Centerline is valid? [True, True] Translation: X:63.09, Y:-7.23, Z:-6.52 [[ 9.74787366e-01 2.15698393e-01 5.71296248e-02 6.30865722e+01] [-2.15386890e-01 9.76459555e-01 -1.16286022e-02 -7.23167014e+00] [-5.82930388e-02 -9.69557735e-04 9.98299044e-01 -6.52321838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.437719421 meters 0.055629667777565006 Centerline is valid? [True, True] Translation: X:63.12, Y:-7.23, Z:-6.52 [[ 9.73756048e-01 2.19827945e-01 5.89477104e-02 6.31160419e+01] [-2.19504003e-01 9.75537847e-01 -1.19958866e-02 -7.23444154e+00] [-6.01427536e-02 -1.25819125e-03 9.98188993e-01 -6.52325174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.467719421 meters 0.05613813906590891 Centerline is valid? [True, True] Translation: X:63.15, Y:-7.24, Z:-6.52 [[ 9.72506090e-01 2.24568039e-01 6.16530640e-02 6.31451163e+01] [-2.24223233e-01 9.74457059e-01 -1.25452210e-02 -7.24020338e+00] [-6.28955191e-02 -1.62374552e-03 9.98018796e-01 -6.52149085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.497719421 meters 0.056465800725859695 Centerline is valid? [True, True] Translation: X:63.17, Y:-7.25, Z:-6.52 [[ 9.72266685e-01 2.24988014e-01 6.38583406e-02 6.31735775e+01] [-2.24619444e-01 9.74360018e-01 -1.29869305e-02 -7.24562797e+00] [-6.51429176e-02 -1.71706506e-03 9.97874467e-01 -6.52312837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.527719421 meters 0.05525146550435803 Centerline is valid? [True, True] Translation: X:63.20, Y:-7.25, Z:-6.52 [[ 9.71918010e-01 2.24573776e-01 7.02993657e-02 6.32037278e+01] [-2.24126438e-01 9.74455301e-01 -1.42901070e-02 -7.25244624e+00] [-7.17127728e-02 -1.86713407e-03 9.97423577e-01 -6.52005209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.557719421 meters 0.05551779764652931 Centerline is valid? [True, True] Translation: X:63.23, Y:-7.26, Z:-6.52 [[ 9.71744553e-01 2.24930371e-01 7.15461488e-02 6.32332019e+01] [-2.24468138e-01 9.74372929e-01 -1.45412968e-02 -7.26020544e+00] [-7.29834099e-02 -1.92940488e-03 9.97331289e-01 -6.52239630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.587719421 meters 0.05633014349443122 Centerline is valid? [True, True] Translation: X:63.26, Y:-7.27, Z:-6.53 [[ 9.71308433e-01 2.27115718e-01 7.05576229e-02 6.32621800e+01] [-2.26671885e-01 9.73865592e-01 -1.43410400e-02 -7.26717620e+00] [-7.19707168e-02 -2.06385629e-03 9.97404610e-01 -6.52652728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.617719421 meters 0.05891589676688305 Centerline is valid? [True, True] Translation: X:63.29, Y:-7.27, Z:-6.53 [[ 9.70079446e-01 2.32641610e-01 6.94532135e-02 6.32908995e+01] [-2.32225791e-01 9.72559482e-01 -1.41150639e-02 -7.27156573e+00] [-7.08311325e-02 -2.43609411e-03 9.97485346e-01 -6.53203651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.647719421 meters 0.06005232885303329 Centerline is valid? [True, True] Translation: X:63.32, Y:-7.28, Z:-6.54 [[ 9.69424249e-01 2.35349883e-01 6.94770246e-02 6.33204221e+01] [-2.34940772e-01 9.71907139e-01 -1.41190602e-02 -7.27609972e+00] [-7.08481353e-02 -2.63562644e-03 9.97483632e-01 -6.53547376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67771942099999 meters 0.061200900576756596 Centerline is valid? [True, True] Translation: X:63.35, Y:-7.28, Z:-6.54 [[ 9.68348607e-01 2.40087034e-01 6.82582751e-02 6.33500744e+01] [-2.39704129e-01 9.70746936e-01 -1.38678135e-02 -7.28109958e+00] [-6.95909937e-02 -2.93291250e-03 9.97571297e-01 -6.53913319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.707719421 meters 0.0623368171030888 Centerline is valid? [True, True] Translation: X:63.38, Y:-7.29, Z:-6.54 [[ 9.67807702e-01 2.42142477e-01 6.86678493e-02 6.33791730e+01] [-2.41760176e-01 9.70235750e-01 -1.39501675e-02 -7.28704678e+00] [-7.00019304e-02 -3.10007177e-03 9.97542039e-01 -6.54236057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.737719421 meters 0.06451552186256318 Centerline is valid? [True, True] Translation: X:63.41, Y:-7.30, Z:-6.55 [[ 9.67157785e-01 2.45345433e-01 6.64186558e-02 6.34067671e+01] [-2.44995489e-01 9.69430358e-01 -1.34904245e-02 -7.29632066e+00] [-6.76980753e-02 -3.22490197e-03 9.97700642e-01 -6.54824255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.767719421 meters 0.06523719461239817 Centerline is valid? [True, True] Translation: X:63.44, Y:-7.31, Z:-6.56 [[ 9.67294532e-01 2.45703191e-01 6.30177035e-02 6.34351036e+01] [-2.45389206e-01 9.69340195e-01 -1.27954825e-02 -7.30549243e+00] [-6.42294838e-02 -3.08686396e-03 9.97930381e-01 -6.55541585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.797719421 meters 0.06824107312723328 Centerline is valid? [True, True] Translation: X:63.46, Y:-7.31, Z:-6.57 [[ 9.67870752e-01 2.44084848e-01 6.04052539e-02 6.34615377e+01] [-2.43793067e-01 9.69749683e-01 -1.22675436e-02 -7.31344052e+00] [-6.15722973e-02 -2.85298544e-03 9.98098549e-01 -6.56811536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.827719421 meters 0.06185025347031158 Centerline is valid? [True, True] Translation: X:63.49, Y:-7.34, Z:-6.56 [[ 9.68831025e-01 2.38643596e-01 6.64505677e-02 6.34885423e+01] [-2.38278223e-01 9.71103279e-01 -1.34873765e-02 -7.34101527e+00] [-6.77490403e-02 -2.76673439e-03 9.97698558e-01 -6.56104481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.857719421 meters 0.0594457569871774 Centerline is valid? [True, True] Translation: X:63.52, Y:-7.36, Z:-6.56 [[ 9.69737438e-01 2.33919393e-01 6.99358188e-02 6.35164495e+01] [-2.33502261e-01 9.72252615e-01 -1.41966907e-02 -7.35726727e+00] [-7.13161640e-02 -2.56310937e-03 9.97450468e-01 -6.56094523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.887719421 meters 0.057163390634036755 Centerline is valid? [True, True] Translation: X:63.54, Y:-7.37, Z:-6.56 [[ 9.70831747e-01 2.29109886e-01 7.06709267e-02 6.35446572e+01] [-2.28671210e-01 9.73398004e-01 -1.43458646e-02 -7.37296500e+00] [-7.20777184e-02 -2.23298558e-03 9.97396519e-01 -6.56262632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.917719421 meters 0.05414929901916711 Centerline is valid? [True, True] Translation: X:63.57, Y:-7.40, Z:-6.57 [[ 9.73528708e-01 2.18215574e-01 6.79986591e-02 6.35708363e+01] [-2.17782786e-01 9.75899630e-01 -1.38047425e-02 -7.39581596e+00] [-6.93722761e-02 -1.36962428e-03 9.97589901e-01 -6.56972156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.947719421 meters 0.05270586555038121 Centerline is valid? [True, True] Translation: X:63.60, Y:-7.41, Z:-6.57 [[ 9.74566360e-01 2.13793458e-01 6.71771301e-02 6.36000196e+01] [-2.13361132e-01 9.76878322e-01 -1.36298327e-02 -7.41318140e+00] [-6.85378511e-02 -1.04981204e-03 9.97647964e-01 -6.57276537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.977719421 meters 0.05185137710437077 Centerline is valid? [True, True] Translation: X:63.63, Y:-7.44, Z:-6.58 [[ 9.76378574e-01 2.05584846e-01 6.64812143e-02 6.36266895e+01] [-2.05140938e-01 9.78639194e-01 -1.35101628e-02 -7.43693920e+00] [-6.78386067e-02 -4.46985206e-04 9.97696208e-01 -6.57831405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.007719421 meters 0.051302341812141695 Centerline is valid? [True, True] Translation: X:63.66, Y:-7.45, Z:-6.58 [[ 9.76934209e-01 2.03041464e-01 6.61340647e-02 6.36582001e+01] [-2.02595260e-01 9.79170108e-01 -1.34558880e-02 -7.44933133e+00] [-6.74886025e-02 -2.52930767e-04 9.97720013e-01 -6.57968318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03771942099999 meters 0.051778154483037436 Centerline is valid? [True, True] Translation: X:63.69, Y:-7.46, Z:-6.58 [[ 9.77472195e-01 2.01097398e-01 6.40932420e-02 6.36872911e+01] [-2.00671927e-01 9.79571248e-01 -1.30747035e-02 -7.45798403e+00] [-6.54131859e-02 -8.15552367e-05 9.97858261e-01 -6.58460856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06771942099999 meters 0.05195465747922268 Centerline is valid? [True, True] Translation: X:63.72, Y:-7.46, Z:-6.59 [[ 9.77120503e-01 2.02906430e-01 6.37534514e-02 6.37191792e+01] [-2.02489761e-01 9.79198109e-01 -1.29984367e-02 -7.46312787e+00] [-6.50647254e-02 -2.08382100e-04 9.97881024e-01 -6.58930730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.097719421 meters 0.05226994859128306 Centerline is valid? [True, True] Translation: X:63.75, Y:-7.46, Z:-6.59 [[ 9.75891908e-01 2.08533429e-01 6.44111207e-02 6.37519440e+01] [-2.08119026e-01 9.78015074e-01 -1.31524506e-02 -7.46288310e+00] [-6.57377725e-02 -5.69809563e-04 9.97836771e-01 -6.59220177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.127719421 meters 0.05254984675774405 Centerline is valid? [True, True] Translation: X:63.79, Y:-7.46, Z:-6.59 [[ 9.75146559e-01 2.11683025e-01 6.54177775e-02 6.37853355e+01] [-2.11261160e-01 9.77338068e-01 -1.33799355e-02 -7.46457391e+00] [-6.67675895e-02 -7.72837477e-04 9.97768256e-01 -6.59439270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.157719421 meters 0.05367226491195461 Centerline is valid? [True, True] Translation: X:63.82, Y:-7.46, Z:-6.60 [[ 9.74320962e-01 2.15282927e-01 6.59691148e-02 6.38175595e+01] [-2.14860396e-01 9.76551205e-01 -1.35186624e-02 -7.46249099e+00] [-6.73325558e-02 -1.00263399e-03 9.97730085e-01 -6.60001598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.187719421 meters 0.053082466612147626 Centerline is valid? [True, True] Translation: X:63.85, Y:-7.47, Z:-6.60 [[ 9.74121567e-01 2.16274779e-01 6.56688088e-02 6.38489512e+01] [-2.15857178e-01 9.76331972e-01 -1.34744175e-02 -7.46870856e+00] [-6.70287342e-02 -1.04936303e-03 9.97750494e-01 -6.59991346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.217719421 meters 0.0541969333920118 Centerline is valid? [True, True] Translation: X:63.88, Y:-7.47, Z:-6.61 [[ 9.73583180e-01 2.18812295e-01 6.52454631e-02 6.38808083e+01] [-2.18404344e-01 9.75766238e-01 -1.34086567e-02 -7.46833573e+00] [-6.65982990e-02 -1.19544988e-03 9.97779153e-01 -6.60535366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.247719421 meters 0.05351054550385126 Centerline is valid? [True, True] Translation: X:63.91, Y:-7.47, Z:-6.60 [[ 9.73276720e-01 2.19732014e-01 6.67103360e-02 6.39134185e+01] [-2.19305926e-01 9.75559455e-01 -1.37353802e-02 -7.47391293e+00] [-6.80980018e-02 -1.26164627e-03 9.97677839e-01 -6.60325507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.277719421 meters 0.05347572434469124 Centerline is valid? [True, True] Translation: X:63.94, Y:-7.48, Z:-6.61 [[ 9.73406397e-01 2.18758767e-01 6.80043265e-02 6.39440862e+01] [-2.18313497e-01 9.75778215e-01 -1.40032938e-02 -7.48050435e+00] [-6.94204836e-02 -1.21536658e-03 9.97586748e-01 -6.60665151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.307719421 meters 0.05252031202697448 Centerline is valid? [True, True] Translation: X:63.98, Y:-7.49, Z:-6.61 [[ 9.73430556e-01 2.17959289e-01 7.01904590e-02 6.39751394e+01] [-2.17481173e-01 9.75957157e-01 -1.44764463e-02 -7.48975808e+00] [-7.16581567e-02 -1.17328819e-03 9.97428560e-01 -6.60604141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.337719421 meters 0.051613599432723055 Centerline is valid? [True, True] Translation: X:64.00, Y:-7.50, Z:-6.61 [[ 9.74130197e-01 2.14020300e-01 7.25649476e-02 6.40045640e+01] [-2.13495936e-01 9.76828815e-01 -1.49983926e-02 -7.49821557e+00] [-7.40934922e-02 -8.81934280e-04 9.97250910e-01 -6.60704127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.367719421 meters 0.051138307453493716 Centerline is valid? [True, True] Translation: X:64.03, Y:-7.51, Z:-6.61 [[ 9.74461097e-01 2.11573712e-01 7.52471554e-02 6.40343728e+01] [-2.11002901e-01 9.77361774e-01 -1.55479609e-02 -7.50777108e+00] [-7.68332331e-02 -7.26485067e-04 9.97043693e-01 -6.60727262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.397719421 meters 0.051067388541984726 Centerline is valid? [True, True] Translation: X:64.07, Y:-7.52, Z:-6.61 [[ 9.74441794e-01 2.12014722e-01 7.42492244e-02 6.40654362e+01] [-2.11458708e-01 9.77266199e-01 -1.53620198e-02 -7.51559684e+00] [-7.58182316e-02 -7.31250929e-04 9.97121387e-01 -6.61017168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42771942099999 meters 0.051897089122424904 Centerline is valid? [True, True] Translation: X:64.10, Y:-7.52, Z:-6.62 [[ 9.73661671e-01 2.16169556e-01 7.24822347e-02 6.40967531e+01] [-2.15649242e-01 9.76355323e-01 -1.50229225e-02 -7.51702983e+00] [-7.40159142e-02 -1.00349513e-03 9.97256555e-01 -6.61667409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.457719421 meters 0.05256660869188336 Centerline is valid? [True, True] Translation: X:64.13, Y:-7.52, Z:-6.62 [[ 9.72770320e-01 2.20587860e-01 7.11259428e-02 6.41286437e+01] [-2.20098184e-01 9.75366231e-01 -1.47480584e-02 -7.51803930e+00] [-7.26270854e-02 -1.30821736e-03 9.97358308e-01 -6.61944769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.487719421 meters 0.05449547188452386 Centerline is valid? [True, True] Translation: X:64.16, Y:-7.52, Z:-6.63 [[ 9.71734218e-01 2.25230990e-01 7.07362051e-02 6.41602356e+01] [-2.24757432e-01 9.74304038e-01 -1.46880304e-02 -7.51524738e+00] [-7.22267699e-02 -1.62562608e-03 9.97386911e-01 -6.62617625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.517719421 meters 0.05775544917201342 Centerline is valid? [True, True] Translation: X:64.19, Y:-7.51, Z:-6.63 [[ 9.69621977e-01 2.35512864e-01 6.60826181e-02 6.41920199e+01] [-2.35121658e-01 9.71868724e-01 -1.37473221e-02 -7.51036311e+00] [-6.74613009e-02 -2.20774910e-03 9.97719449e-01 -6.63163275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.547719421 meters 0.05974547953530237 Centerline is valid? [True, True] Translation: X:64.22, Y:-7.51, Z:-6.64 [[ 9.68885530e-01 2.39153939e-01 6.37669395e-02 6.42227005e+01] [-2.38797350e-01 9.70978769e-01 -1.32686377e-02 -7.51313589e+00] [-6.50895914e-02 -2.37158511e-03 9.97876606e-01 -6.63816444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.577719421 meters 0.06125952036143302 Centerline is valid? [True, True] Translation: X:64.25, Y:-7.52, Z:-6.64 [[ 9.68117189e-01 2.42758743e-01 6.17843117e-02 6.42528539e+01] [-2.42431056e-01 9.70083399e-01 -1.28601363e-02 -7.51882514e+00] [-6.30578456e-02 -2.52831693e-03 9.98006671e-01 -6.64319640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.607719421 meters 0.062480302757680406 Centerline is valid? [True, True] Translation: X:64.28, Y:-7.52, Z:-6.65 [[ 9.68080072e-01 2.41690108e-01 6.63842305e-02 6.42827718e+01] [-2.41309112e-01 9.70349896e-01 -1.38199783e-02 -7.52092853e+00] [-6.77560832e-02 -2.64027418e-03 9.97698422e-01 -6.64658603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.637719421 meters 0.06217117802946904 Centerline is valid? [True, True] Translation: X:64.31, Y:-7.53, Z:-6.65 [[ 9.68314695e-01 2.40456091e-01 6.74353032e-02 6.43143908e+01] [-2.40060171e-01 9.70656541e-01 -1.40354752e-02 -7.52788598e+00] [-6.88314337e-02 -2.59777353e-03 9.97624922e-01 -6.65019521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.667719421 meters 0.061354822062618906 Centerline is valid? [True, True] Translation: X:64.34, Y:-7.54, Z:-6.65 [[ 9.68776404e-01 2.38624940e-01 6.73083684e-02 6.43447972e+01] [-2.38226046e-01 9.71108684e-01 -1.40098484e-02 -7.53758569e+00] [-6.87068403e-02 -2.46219589e-03 9.97633855e-01 -6.65429279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.697719421 meters 0.05713678080579853 Centerline is valid? [True, True] Translation: X:64.37, Y:-7.56, Z:-6.65 [[ 9.69887450e-01 2.34002840e-01 6.75352135e-02 6.43730148e+01] [-2.33588185e-01 9.72233612e-01 -1.40841600e-02 -7.55809067e+00] [-6.89557380e-02 -2.11537791e-03 9.97617477e-01 -6.65262147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.727719421 meters 0.055325336952951484 Centerline is valid? [True, True] Translation: X:64.40, Y:-7.57, Z:-6.65 [[ 9.70764071e-01 2.30337884e-01 6.75394612e-02 6.44025243e+01] [-2.29914162e-01 9.73108949e-01 -1.40872842e-02 -7.57219876e+00] [-6.89680894e-02 -1.85284929e-03 9.97617146e-01 -6.65387244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.757719421 meters 0.053346307414287995 Centerline is valid? [True, True] Translation: X:64.43, Y:-7.59, Z:-6.66 [[ 9.72669525e-01 2.21737642e-01 6.88942100e-02 6.44290473e+01] [-2.21274724e-01 9.75105546e-01 -1.43760200e-02 -7.59032762e+00] [-7.03668311e-02 -1.26143072e-03 9.97520385e-01 -6.65812526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78771942099999 meters 0.05163398575592215 Centerline is valid? [True, True] Translation: X:64.46, Y:-7.61, Z:-6.66 [[ 9.74750960e-01 2.12506616e-01 6.85675213e-02 6.44576434e+01] [-2.12025175e-01 9.77159449e-01 -1.43086053e-02 -7.60660080e+00] [-7.00420746e-02 -5.90713912e-04 9.97543863e-01 -6.66021326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81771942099999 meters 0.051525613652624744 Centerline is valid? [True, True] Translation: X:64.49, Y:-7.62, Z:-6.67 [[ 9.75722586e-01 2.08215014e-01 6.79112814e-02 6.44879486e+01] [-2.07732854e-01 9.78083036e-01 -1.41645894e-02 -7.61966024e+00] [-6.93721524e-02 -2.86694533e-04 9.97590809e-01 -6.66501270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.847719421 meters 0.05181868414720953 Centerline is valid? [True, True] Translation: X:64.52, Y:-7.64, Z:-6.67 [[ 9.77696472e-01 1.99616121e-01 6.52917496e-02 6.45166456e+01] [-1.99149195e-01 9.79874118e-01 -1.36495712e-02 -7.63744186e+00] [-6.67023700e-02 3.42338237e-04 9.97772858e-01 -6.66913991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.877719421 meters 0.05236268140922357 Centerline is valid? [True, True] Translation: X:64.55, Y:-7.65, Z:-6.67 [[ 9.78190024e-01 1.96953981e-01 6.59803510e-02 6.45470855e+01] [-1.96471253e-01 9.80412592e-01 -1.37911306e-02 -7.64763180e+00] [-6.74041850e-02 5.27104156e-04 9.97725613e-01 -6.67328063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.907719421 meters 0.05236268140922357 Centerline is valid? [True, True] Translation: X:64.58, Y:-7.65, Z:-6.68 [[ 9.78123562e-01 1.97285274e-01 6.59758952e-02 6.45786730e+01] [-1.96801864e-01 9.80345982e-01 -1.38124051e-02 -7.65451550e+00] [-6.74041879e-02 5.26059737e-04 9.97725613e-01 -6.67661252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.937719421 meters 0.052967772512813954 Centerline is valid? [True, True] Translation: X:64.61, Y:-7.67, Z:-6.68 [[ 9.78848300e-01 1.93252745e-01 6.71519261e-02 6.46099397e+01] [-1.92740322e-01 9.81148641e-01 -1.40894260e-02 -7.66658060e+00] [-6.86088413e-02 8.48526836e-04 9.97643276e-01 -6.67938061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.967719421 meters 0.05325252309549358 Centerline is valid? [True, True] Translation: X:64.64, Y:-7.68, Z:-6.68 [[ 9.78930611e-01 1.92996361e-01 6.66878020e-02 6.46394204e+01] [-1.92490009e-01 9.81199090e-01 -1.39979310e-02 -7.67540053e+00] [-6.81355604e-02 8.66267552e-04 9.97675696e-01 -6.68302713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.997719421 meters 0.05288943742045493 Centerline is valid? [True, True] Translation: X:64.67, Y:-7.68, Z:-6.68 [[ 9.78756424e-01 1.93535317e-01 6.76752791e-02 6.46711670e+01] [-1.93013786e-01 9.81092932e-01 -1.42245350e-02 -7.68287509e+00] [-6.91486879e-02 8.60093216e-04 9.97605994e-01 -6.68416845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.027719421 meters 0.05222138360070824 Centerline is valid? [True, True] Translation: X:64.70, Y:-7.68, Z:-6.69 [[ 9.78052797e-01 1.96564347e-01 6.91027060e-02 6.47037871e+01] [-1.96026532e-01 9.80490690e-01 -1.45466740e-02 -7.68490741e+00] [-7.06139173e-02 6.81451362e-04 9.97503489e-01 -6.68558830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.057719421 meters 0.052209460095142705 Centerline is valid? [True, True] Translation: X:64.74, Y:-7.68, Z:-6.69 [[ 9.77269184e-01 2.01229874e-01 6.67194111e-02 6.47352088e+01] [-2.00737751e-01 9.79543981e-01 -1.40692768e-02 -7.68375548e+00] [-6.81857563e-02 3.56366100e-04 9.97672579e-01 -6.69243982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.087719421 meters 0.05191340782244465 Centerline is valid? [True, True] Translation: X:64.77, Y:-7.69, Z:-6.70 [[ 9.76662085e-01 2.04171770e-01 6.66712836e-02 6.47682463e+01] [-2.03686871e-01 9.78935066e-01 -1.40639487e-02 -7.68791225e+00] [-6.81383187e-02 1.55660317e-04 9.97675872e-01 -6.69511374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.117719421 meters 0.05144147450369434 Centerline is valid? [True, True] Translation: X:64.80, Y:-7.69, Z:-6.70 [[ 9.75456842e-01 2.08851058e-01 6.97508810e-02 6.48012870e+01] [-2.08329705e-01 9.77947450e-01 -1.47485302e-02 -7.68518124e+00] [-7.12929423e-02 -1.44625750e-04 9.97455410e-01 -6.69548858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.147719421 meters 0.05169166929575968 Centerline is valid? [True, True] Translation: X:64.83, Y:-7.69, Z:-6.70 [[ 9.75148255e-01 2.10723804e-01 6.84204535e-02 6.48336359e+01] [-2.10227152e-01 9.77545600e-01 -1.44618525e-02 -7.68848391e+00] [-6.99315699e-02 -2.81386843e-04 9.97551751e-01 -6.69875073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17771942099999 meters 0.05197873227489996 Centerline is valid? [True, True] Translation: X:64.86, Y:-7.70, Z:-6.70 [[ 9.74842931e-01 2.12834883e-01 6.62010079e-02 6.48641753e+01] [-2.12373193e-01 9.77088101e-01 -1.40167865e-02 -7.69623469e+00] [-6.76674782e-02 -3.95154218e-04 9.97707851e-01 -6.70354473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.207719421 meters 0.05201010334506037 Centerline is valid? [True, True] Translation: X:64.90, Y:-7.70, Z:-6.71 [[ 9.74462182e-01 2.14711408e-01 6.57454683e-02 6.48954093e+01] [-2.14259980e-01 9.76677400e-01 -1.39254025e-02 -7.70314609e+00] [-6.72020559e-02 -5.16844641e-04 9.97739253e-01 -6.70721558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.237719421 meters 0.05221448454878384 Centerline is valid? [True, True] Translation: X:64.93, Y:-7.70, Z:-6.71 [[ 9.73953819e-01 2.17028827e-01 6.56692158e-02 6.49277761e+01] [-2.16582311e-01 9.76164975e-01 -1.39299812e-02 -7.70295574e+00] [-6.71271959e-02 -6.55632162e-04 9.97744211e-01 -6.71136245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.267719421 meters 0.05300158708515525 Centerline is valid? [True, True] Translation: X:64.96, Y:-7.70, Z:-6.72 [[ 9.73461182e-01 2.19480597e-01 6.48197107e-02 6.49587842e+01] [-2.19049618e-01 9.75616542e-01 -1.37705231e-02 -7.70475268e+00] [-6.62615447e-02 -7.93663198e-04 9.97801973e-01 -6.71745121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.297719421 meters 0.053824211065438186 Centerline is valid? [True, True] Translation: X:64.99, Y:-7.71, Z:-6.72 [[ 9.72692401e-01 2.23158177e-01 6.37959355e-02 6.49894085e+01] [-2.22747118e-01 9.74781728e-01 -1.35758624e-02 -7.70848340e+00] [-6.52166770e-02 -1.00522258e-03 9.97870620e-01 -6.72143553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.327719421 meters 0.05405798385714728 Centerline is valid? [True, True] Translation: X:65.02, Y:-7.72, Z:-6.72 [[ 9.72484044e-01 2.24254143e-01 6.31257746e-02 6.50205046e+01] [-2.23853717e-01 9.74530117e-01 -1.34374354e-02 -7.71527319e+00] [-6.45313691e-02 -1.06324775e-03 9.97915113e-01 -6.72481904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.357719421 meters 0.054109714366179805 Centerline is valid? [True, True] Translation: X:65.05, Y:-7.72, Z:-6.73 [[ 9.72219835e-01 2.25349188e-01 6.32956239e-02 6.50521351e+01] [-2.24947447e-01 9.74277423e-01 -1.34962867e-02 -7.72213741e+00] [-6.47088746e-02 -1.11683137e-03 9.97903560e-01 -6.72789433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.387719421 meters 0.05432801479342141 Centerline is valid? [True, True] Translation: X:65.08, Y:-7.73, Z:-6.73 [[ 9.71867081e-01 2.26519097e-01 6.45250053e-02 6.50839120e+01] [-2.26103393e-01 9.74005977e-01 -1.37700076e-02 -7.72887356e+00] [-6.59669105e-02 -1.20670557e-03 9.97821081e-01 -6.73035807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.417719421 meters 0.053648519844046984 Centerline is valid? [True, True] Translation: X:65.12, Y:-7.74, Z:-6.73 [[ 9.71440520e-01 2.27757714e-01 6.65562951e-02 6.51153429e+01] [-2.27316896e-01 9.73716952e-01 -1.42241035e-02 -7.73666258e+00] [-6.80466422e-02 -1.31150000e-03 9.97681279e-01 -6.72881211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.447719421 meters 0.053520759303356556 Centerline is valid? [True, True] Translation: X:65.15, Y:-7.74, Z:-6.73 [[ 9.71255858e-01 2.28077541e-01 6.81373172e-02 6.51466160e+01] [-2.27614735e-01 9.73642044e-01 -1.45843489e-02 -7.74289131e+00] [-6.96677192e-02 -1.34392315e-03 9.97569347e-01 -6.73129323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.477719421 meters 0.05455817558489813 Centerline is valid? [True, True] Translation: X:65.18, Y:-7.75, Z:-6.74 [[ 9.70978808e-01 2.28765912e-01 6.97589540e-02 6.51773122e+01] [-2.28280902e-01 9.73480450e-01 -1.49547034e-02 -7.74706879e+00] [-7.13301043e-02 -1.40393683e-03 9.97451776e-01 -6.73715776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.507719421 meters 0.05339729887435793 Centerline is valid? [True, True] Translation: X:65.21, Y:-7.76, Z:-6.74 [[ 9.71024863e-01 2.27287882e-01 7.38304441e-02 6.52077386e+01] [-2.26738136e-01 9.73826685e-01 -1.58557539e-02 -7.75841606e+00] [-7.55018774e-02 -1.34384605e-03 9.97144754e-01 -6.73625703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53771942099999 meters 0.052188475541075766 Centerline is valid? [True, True] Translation: X:65.24, Y:-7.77, Z:-6.74 [[ 9.71378033e-01 2.25568196e-01 7.44560713e-02 6.52386117e+01] [-2.25003940e-01 9.74226618e-01 -1.59913849e-02 -7.77079856e+00] [-7.61442344e-02 -1.21922942e-03 9.97096068e-01 -6.73556366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56771942099999 meters 0.051736855886558665 Centerline is valid? [True, True] Translation: X:65.27, Y:-7.79, Z:-6.74 [[ 9.73108386e-01 2.18969858e-01 7.15001489e-02 6.52678280e+01] [-2.18430058e-01 9.75731406e-01 -1.53796317e-02 -7.78525645e+00] [-7.31326166e-02 -6.51733079e-04 9.97322012e-01 -6.74325953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.597719421 meters 0.05152221288461135 Centerline is valid? [True, True] Translation: X:65.30, Y:-7.80, Z:-6.75 [[ 9.75160539e-01 2.10633214e-01 6.85242439e-02 6.52968650e+01] [-2.10116099e-01 9.77565163e-01 -1.47504679e-02 -7.80240732e+00] [-7.00938521e-02 -1.39725841e-05 9.97540401e-01 -6.74885695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.627719421 meters 0.05174349908623147 Centerline is valid? [True, True] Translation: X:65.33, Y:-7.81, Z:-6.75 [[ 9.76088673e-01 2.06870674e-01 6.67489807e-02 6.53270516e+01] [-2.06369875e-01 9.78368260e-01 -1.43882836e-02 -7.81326723e+00] [-6.82815980e-02 2.69261780e-04 9.97666052e-01 -6.75279267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.657719421 meters 0.052251221268671266 Centerline is valid? [True, True] Translation: X:65.36, Y:-7.82, Z:-6.76 [[ 9.76554071e-01 2.05114210e-01 6.53475934e-02 6.53577987e+01] [-2.04628935e-01 9.78737962e-01 -1.41067841e-02 -7.82217060e+00] [-6.68516722e-02 4.04028932e-04 9.97762843e-01 -6.75811617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.687719421 meters 0.0525433247383018 Centerline is valid? [True, True] Translation: X:65.39, Y:-7.83, Z:-6.76 [[ 9.76278726e-01 2.06905257e-01 6.37970570e-02 6.53882429e+01] [-2.06445225e-01 9.78360939e-01 -1.37928072e-02 -7.82571368e+00] [-6.52703529e-02 2.95026441e-04 9.97867573e-01 -6.76294575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.717719421 meters 0.05199261053031834 Centerline is valid? [True, True] Translation: X:65.42, Y:-7.82, Z:-6.76 [[ 9.74485195e-01 2.14852278e-01 6.49392293e-02 6.54223252e+01] [-2.14391927e-01 9.76646532e-01 -1.40588971e-02 -7.82187376e+00] [-6.64432592e-02 -2.22259392e-04 9.97790180e-01 -6.76200877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.747719421 meters 0.052311298210585375 Centerline is valid? [True, True] Translation: X:65.45, Y:-7.82, Z:-6.77 [[ 9.73437246e-01 2.19729385e-01 6.43344727e-02 6.54548824e+01] [-2.19286869e-01 9.75560719e-01 -1.39482127e-02 -7.82205650e+00] [-6.58270167e-02 -5.29995330e-04 9.97830909e-01 -6.76501334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.777719421 meters 0.05278769404248356 Centerline is valid? [True, True] Translation: X:65.49, Y:-7.82, Z:-6.77 [[ 9.72516691e-01 2.23923371e-01 6.37934954e-02 6.54872268e+01] [-2.23495895e-01 9.74606436e-01 -1.38520344e-02 -7.82151783e+00] [-6.52753454e-02 -7.86249706e-04 9.97866981e-01 -6.76810839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.807719421 meters 0.054578404002434744 Centerline is valid? [True, True] Translation: X:65.52, Y:-7.82, Z:-6.77 [[ 9.70721353e-01 2.31716518e-01 6.33048960e-02 6.55202075e+01] [-2.31310887e-01 9.72782510e-01 -1.37644795e-02 -7.81710348e+00] [-6.47713529e-02 -1.28163751e-03 9.97899308e-01 -6.77271691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.837719421 meters 0.05536314846125068 Centerline is valid? [True, True] Translation: X:65.55, Y:-7.82, Z:-6.78 [[ 9.70132249e-01 2.34343678e-01 6.26614711e-02 6.55514386e+01] [-2.33950622e-01 9.72152770e-01 -1.36417553e-02 -7.82192732e+00] [-6.41133818e-02 -1.42538336e-03 9.97941603e-01 -6.77705399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.867719421 meters 0.05563712981419302 Centerline is valid? [True, True] Translation: X:65.58, Y:-7.83, Z:-6.78 [[ 9.69779010e-01 2.35342802e-01 6.43617696e-02 6.55825624e+01] [-2.34928917e-01 9.71911252e-01 -1.40329374e-02 -7.82656903e+00] [-6.58564788e-02 -1.51159264e-03 9.97827961e-01 -6.78136877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.897719421 meters 0.054876211482433254 Centerline is valid? [True, True] Translation: X:65.61, Y:-7.83, Z:-6.78 [[ 9.69558186e-01 2.35796125e-01 6.60084154e-02 6.56144994e+01] [-2.35360397e-01 9.71801291e-01 -1.44129993e-02 -7.83366773e+00] [-6.75455927e-02 -1.56152541e-03 9.97714967e-01 -6.78093726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92771942099999 meters 0.0540994827676029 Centerline is valid? [True, True] Translation: X:65.65, Y:-7.84, Z:-6.78 [[ 9.69582010e-01 2.34883046e-01 6.88526037e-02 6.56456968e+01] [-2.34404466e-01 9.72022430e-01 -1.50645880e-02 -7.84040820e+00] [-7.04646915e-02 -1.53300428e-03 9.97513096e-01 -6.78051427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.957719421 meters 0.0538503902738778 Centerline is valid? [True, True] Translation: X:65.68, Y:-7.85, Z:-6.78 [[ 9.69612084e-01 2.34594078e-01 6.94120021e-02 6.56770027e+01] [-2.34107153e-01 9.72092221e-01 -1.51840272e-02 -7.84835669e+00] [-7.10369502e-02 -1.52722995e-03 9.97472516e-01 -6.78219913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.987719421 meters 0.0540586493232996 Centerline is valid? [True, True] Translation: X:65.71, Y:-7.86, Z:-6.79 [[ 9.69725146e-01 2.34346578e-01 6.86645608e-02 6.57080167e+01] [-2.33867977e-01 9.72152002e-01 -1.50417775e-02 -7.85665660e+00] [-7.02773793e-02 -1.47205202e-03 9.97526402e-01 -6.78692922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.017719421 meters 0.0541544707482167 Centerline is valid? [True, True] Translation: X:65.74, Y:-7.87, Z:-6.79 [[ 9.69919515e-01 2.34358092e-01 6.58211116e-02 6.57378321e+01] [-2.33916504e-01 9.72149355e-01 -1.44465035e-02 -7.86730459e+00] [-6.73736061e-02 -1.38469869e-03 9.97726856e-01 -6.79176646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.047719421 meters 0.05412414868990072 Centerline is valid? [True, True] Translation: X:65.77, Y:-7.87, Z:-6.79 [[ 9.69880482e-01 2.34360038e-01 6.63869217e-02 6.57691478e+01] [-2.33910488e-01 9.72148875e-01 -1.45756190e-02 -7.87433799e+00] [-6.79539139e-02 -1.39198887e-03 9.97687490e-01 -6.79419056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.077719421 meters 0.05396994925041432 Centerline is valid? [True, True] Translation: X:65.80, Y:-7.88, Z:-6.80 [[ 9.69589714e-01 2.35383092e-01 6.70118424e-02 6.58014895e+01] [-2.34926120e-01 9.71901576e-01 -1.47324459e-02 -7.88017468e+00] [-6.85966839e-02 -1.45840414e-03 9.97643407e-01 -6.79655727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.107719421 meters 0.05298971048638006 Centerline is valid? [True, True] Translation: X:65.83, Y:-7.89, Z:-6.80 [[ 9.70028115e-01 2.32261078e-01 7.14160214e-02 6.58314033e+01] [-2.31730700e-01 9.72652636e-01 -1.57395442e-02 -7.88535871e+00] [-7.31186649e-02 -1.28148425e-03 9.97322425e-01 -6.79687863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.137719421 meters 0.05191257973884741 Centerline is valid? [True, True] Translation: X:65.86, Y:-7.90, Z:-6.80 [[ 9.71246430e-01 2.26888523e-01 7.21246842e-02 6.58613081e+01] [-2.26333395e-01 9.73920325e-01 -1.58869629e-02 -7.89827859e+00] [-7.38482654e-02 -8.94068616e-04 9.97269088e-01 -6.79942045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.167719421 meters 0.051540387979425784 Centerline is valid? [True, True] Translation: X:65.89, Y:-7.91, Z:-6.80 [[ 9.72323046e-01 2.22751420e-01 7.04960930e-02 6.58923934e+01] [-2.22208782e-01 9.74875123e-01 -1.55483513e-02 -7.91118763e+00] [-7.21883047e-02 -5.46830652e-04 9.97390871e-01 -6.80420455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.197719421 meters 0.05181421173223498 Centerline is valid? [True, True] Translation: X:65.92, Y:-7.93, Z:-6.81 [[ 9.75084677e-01 2.11130265e-01 6.80726336e-02 6.59197895e+01] [-2.10594186e-01 9.77457878e-01 -1.50394861e-02 -7.92959401e+00] [-6.97134227e-02 3.29071640e-04 9.97567005e-01 -6.81080949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.227719421 meters 0.05225977168856496 Centerline is valid? [True, True] Translation: X:65.95, Y:-7.94, Z:-6.81 [[ 9.76219868e-01 2.05591748e-01 6.87517461e-02 6.59504055e+01] [-2.05029801e-01 9.78637558e-01 -1.52089340e-02 -7.94016519e+00] [-7.04098722e-02 7.51106739e-04 9.97517862e-01 -6.81278418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.257719421 meters 0.053876958076118954 Centerline is valid? [True, True] Translation: X:65.98, Y:-7.95, Z:-6.82 [[ 9.77746542e-01 1.98345856e-01 6.83419363e-02 6.59813784e+01] [-1.97770883e-01 9.80131240e-01 -1.51469656e-02 -7.94901242e+00] [-6.99884046e-02 1.29384815e-03 9.97546966e-01 -6.81657834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28771942099999 meters 0.05448810600081107 Centerline is valid? [True, True] Translation: X:66.01, Y:-7.96, Z:-6.82 [[ 9.78131450e-01 1.96958993e-01 6.68283048e-02 6.60124854e+01] [-1.96406123e-01 9.80410783e-01 -1.48098131e-02 -7.95512490e+00] [-6.84361166e-02 1.36045570e-03 9.97654573e-01 -6.82118171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31771942099999 meters 0.05505734395277353 Centerline is valid? [True, True] Translation: X:66.04, Y:-7.96, Z:-6.83 [[ 9.78173994e-01 1.97585563e-01 6.43084928e-02 6.60425574e+01] [-1.97073663e-01 9.80284800e-01 -1.42717082e-02 -7.96008366e+00] [-6.58605216e-02 1.28670362e-03 9.97828009e-01 -6.82688993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.347719421 meters 0.054234900031259574 Centerline is valid? [True, True] Translation: X:66.08, Y:-7.96, Z:-6.83 [[ 9.77413459e-01 2.01847927e-01 6.26126517e-02 6.60762679e+01] [-2.01370465e-01 9.79416377e-01 -1.39103172e-02 -7.95852636e+00] [-6.41316251e-02 9.87792410e-04 9.97940960e-01 -6.83098786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.377719421 meters 0.053631657685186525 Centerline is valid? [True, True] Translation: X:66.11, Y:-7.96, Z:-6.83 [[ 9.76800036e-01 2.04924841e-01 6.21892155e-02 6.61089235e+01] [-2.04458501e-01 9.78777382e-01 -1.38404723e-02 -7.96058025e+00] [-6.37056541e-02 8.04260056e-04 9.97968408e-01 -6.83359408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.407719421 meters 0.052505159456882076 Centerline is valid? [True, True] Translation: X:66.14, Y:-7.95, Z:-6.84 [[ 9.74949392e-01 2.12422205e-01 6.59582512e-02 6.61412031e+01] [-2.11912366e-01 9.77177912e-01 -1.47131555e-02 -7.95415765e+00] [-6.75783471e-02 3.67212888e-04 9.97713903e-01 -6.83644643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.437719421 meters 0.051698561115348984 Centerline is valid? [True, True] Translation: X:66.18, Y:-7.95, Z:-6.84 [[ 9.73736631e-01 2.17539634e-01 6.71824485e-02 6.61751149e+01] [-2.17023529e-01 9.76051488e-01 -1.49759969e-02 -7.95069972e+00] [-6.88314017e-02 2.50469542e-06 9.97628307e-01 -6.83505337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.467719421 meters 0.05254113392320496 Centerline is valid? [True, True] Translation: X:66.21, Y:-7.94, Z:-6.84 [[ 9.70797752e-01 2.30052510e-01 6.80262305e-02 6.62105509e+01] [-2.29552423e-01 9.73177826e-01 -1.51856846e-02 -7.93803355e+00] [-6.96951239e-02 -8.73357546e-04 9.97567956e-01 -6.83721700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.497719421 meters 0.056207722881589636 Centerline is valid? [True, True] Translation: X:66.24, Y:-7.93, Z:-6.85 [[ 9.68211845e-01 2.41379586e-01 6.55874815e-02 6.62414956e+01] [-2.40938534e-01 9.70429465e-01 -1.46723192e-02 -7.93087805e+00] [-6.71896229e-02 -1.59663840e-03 9.97738946e-01 -6.84552157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.527719421 meters 0.05792822981217575 Centerline is valid? [True, True] Translation: X:66.27, Y:-7.93, Z:-6.85 [[ 9.67210666e-01 2.45607793e-01 6.46555485e-02 6.62712973e+01] [-2.45188633e-01 9.69367494e-01 -1.44635680e-02 -7.93272039e+00] [-6.62273521e-02 -1.86348835e-03 9.97802819e-01 -6.84999148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.557719421 meters 0.05902772618092398 Centerline is valid? [True, True] Translation: X:66.30, Y:-7.93, Z:-6.85 [[ 9.66399105e-01 2.49321009e-01 6.25444150e-02 6.63012767e+01] [-2.48936758e-01 9.68418724e-01 -1.39880264e-02 -7.93410092e+00] [-6.40566914e-02 -2.05158773e-03 9.97944152e-01 -6.85391987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.587719421 meters 0.06083860931028806 Centerline is valid? [True, True] Translation: X:66.33, Y:-7.94, Z:-6.86 [[ 9.66237229e-01 2.49963974e-01 6.24790295e-02 6.63286765e+01] [-2.49581749e-01 9.68252882e-01 -1.39752592e-02 -7.93625357e+00] [-6.39888117e-02 -2.09020968e-03 9.97948427e-01 -6.86106451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.617719421 meters 0.058272456205969166 Centerline is valid? [True, True] Translation: X:66.36, Y:-7.95, Z:-6.86 [[ 9.66627069e-01 2.48885264e-01 6.07308467e-02 6.63562757e+01] [-2.48522557e-01 9.68530972e-01 -1.35755660e-02 -7.94936299e+00] [-6.21984642e-02 -1.97047573e-03 9.98061856e-01 -6.86069681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.647719421 meters 0.05931068416686766 Centerline is valid? [True, True] Translation: X:66.38, Y:-7.95, Z:-6.87 [[ 9.66982295e-01 2.47513863e-01 6.06805463e-02 6.63838729e+01] [-2.47149178e-01 9.68882523e-01 -1.35624480e-02 -7.95444315e+00] [-6.21492147e-02 -1.88250000e-03 9.98065094e-01 -6.86735714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67771942099999 meters 0.059427304056324765 Centerline is valid? [True, True] Translation: X:66.41, Y:-7.96, Z:-6.87 [[ 9.67661036e-01 2.44996917e-01 6.00718719e-02 6.64104112e+01] [-2.44634876e-01 9.69522356e-01 -1.34230980e-02 -7.96368178e+00] [-6.15296404e-02 -1.70666604e-03 9.98103798e-01 -6.87320514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.707719421 meters 0.05671188557425025 Centerline is valid? [True, True] Translation: X:66.44, Y:-7.98, Z:-6.87 [[ 9.68481835e-01 2.42142067e-01 5.83965339e-02 6.64378619e+01] [-2.41795258e-01 9.70239660e-01 -1.30405332e-02 -7.98019764e+00] [-5.98162949e-02 -1.49048544e-03 9.98208290e-01 -6.87327416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.737719421 meters 0.05633063660060678 Centerline is valid? [True, True] Translation: X:66.47, Y:-7.99, Z:-6.88 [[ 9.68479189e-01 2.42004924e-01 5.90057333e-02 6.64674807e+01] [-2.41650637e-01 9.70273864e-01 -1.31756572e-02 -7.98943411e+00] [-6.04402948e-02 -1.49842322e-03 9.98170690e-01 -6.87580033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.767719421 meters 0.05560951536851855 Centerline is valid? [True, True] Translation: X:66.50, Y:-8.00, Z:-6.88 [[ 9.68659958e-01 2.40566217e-01 6.18529008e-02 6.64966344e+01] [-2.40173919e-01 9.70631607e-01 -1.38120555e-02 -8.00168538e+00] [-6.33590945e-02 -1.47626845e-03 9.97989702e-01 -6.87705773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.797719421 meters 0.055590742426649756 Centerline is valid? [True, True] Translation: X:66.53, Y:-8.01, Z:-6.88 [[ 9.68637997e-01 2.40486106e-01 6.25049064e-02 6.65263758e+01] [-2.40085720e-01 9.70651433e-01 -1.39514212e-02 -8.01124609e+00] [-6.40256000e-02 -1.49265876e-03 9.97947140e-01 -6.88032681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.827719421 meters 0.055590742426649756 Centerline is valid? [True, True] Translation: X:66.56, Y:-8.02, Z:-6.88 [[ 9.68567619e-01 2.40770357e-01 6.25012282e-02 6.65571039e+01] [-2.40369501e-01 9.70580961e-01 -1.39678740e-02 -8.01833242e+00] [-6.40255522e-02 -1.49455854e-03 9.97947140e-01 -6.88357417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.857719421 meters 0.05499333580112593 Centerline is valid? [True, True] Translation: X:66.59, Y:-8.03, Z:-6.89 [[ 9.68905940e-01 2.39298573e-01 6.29084426e-02 6.65879388e+01] [-2.38887641e-01 9.70945049e-01 -1.40857082e-02 -8.02917000e+00] [-6.44513307e-02 -1.38032311e-03 9.97919897e-01 -6.88657692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.887719421 meters 0.05549147216246215 Centerline is valid? [True, True] Translation: X:66.62, Y:-8.04, Z:-6.89 [[ 9.69246754e-01 2.37900007e-01 6.29628148e-02 6.66172709e+01] [-2.37485121e-01 9.71288803e-01 -1.41024466e-02 -8.03717765e+00] [-6.45100492e-02 -1.28398109e-03 9.97916231e-01 -6.89341409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.917719421 meters 0.054420793216405514 Centerline is valid? [True, True] Translation: X:66.65, Y:-8.06, Z:-6.90 [[ 9.70503332e-01 2.33075838e-01 6.16355082e-02 6.66454553e+01] [-2.32668157e-01 9.72458110e-01 -1.38113110e-02 -8.05815431e+00] [-6.31570327e-02 -9.36696744e-04 9.98003162e-01 -6.89932946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.947719421 meters 0.05277199624185202 Centerline is valid? [True, True] Translation: X:66.68, Y:-8.08, Z:-6.90 [[ 9.71505450e-01 2.29239110e-01 6.02211938e-02 6.66754319e+01] [-2.28841717e-01 9.73369918e-01 -1.35081722e-02 -8.07635157e+00] [-6.17140999e-02 -6.57858477e-04 9.98093651e-01 -6.89783623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.977719421 meters 0.05225607060132378 Centerline is valid? [True, True] Translation: X:66.70, Y:-8.10, Z:-6.90 [[ 9.73532357e-01 2.20641015e-01 5.96011119e-02 6.67031219e+01] [-2.20234193e-01 9.75355081e-01 -1.33927497e-02 -8.09856512e+00] [-6.10872373e-02 -8.79275975e-05 9.98132427e-01 -6.90245371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.007719421 meters 0.05204864519700803 Centerline is valid? [True, True] Translation: X:66.73, Y:-8.11, Z:-6.90 [[ 9.74350786e-01 2.16553366e-01 6.11979157e-02 6.67338708e+01] [-2.16114583e-01 9.76270761e-01 -1.37799779e-02 -8.11005056e+00] [-6.27298364e-02 2.00770318e-04 9.98030524e-01 -6.90450454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03771942099999 meters 0.05269130664575301 Centerline is valid? [True, True] Translation: X:66.76, Y:-8.12, Z:-6.91 [[ 9.75694477e-01 2.10403024e-01 6.12442178e-02 6.67626192e+01] [-2.09951452e-01 9.77614551e-01 -1.37904665e-02 -8.12205637e+00] [-6.27747943e-02 5.96969556e-04 9.98027539e-01 -6.90742632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06771942099999 meters 0.05311231857817648 Centerline is valid? [True, True] Translation: X:66.79, Y:-8.13, Z:-6.91 [[ 9.76060134e-01 2.08691571e-01 6.12735108e-02 6.67929765e+01] [-2.08235092e-01 9.77981239e-01 -1.38146106e-02 -8.13171188e+00] [-6.28073368e-02 7.24595543e-04 9.98025407e-01 -6.91044353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.097719421 meters 0.052905423182998915 Centerline is valid? [True, True] Translation: X:66.82, Y:-8.14, Z:-6.91 [[ 9.76114347e-01 2.07427545e-01 6.46111031e-02 6.68237080e+01] [-2.06915092e-01 9.78249988e-01 -1.45981732e-02 -8.14100222e+00] [-6.62338740e-02 8.80473956e-04 9.97803738e-01 -6.91118578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.127719421 meters 0.05276806275672663 Centerline is valid? [True, True] Translation: X:66.86, Y:-8.15, Z:-6.91 [[ 9.76179486e-01 2.06759584e-01 6.57577846e-02 6.68552464e+01] [-2.06227509e-01 9.78391329e-01 -1.48533113e-02 -8.14684783e+00] [-6.74079107e-02 9.38433683e-04 9.97725059e-01 -6.91233757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.157719421 meters 0.05284577372794012 Centerline is valid? [True, True] Translation: X:66.89, Y:-8.15, Z:-6.91 [[ 9.76528096e-01 2.04255970e-01 6.83547824e-02 6.68872788e+01] [-2.03673238e-01 9.78916805e-01 -1.54628971e-02 -8.15041792e+00] [-7.00720342e-02 1.17791360e-03 9.97541239e-01 -6.91223097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.187719421 meters 0.05396206484929871 Centerline is valid? [True, True] Translation: X:66.92, Y:-8.15, Z:-6.92 [[ 9.77275958e-01 2.00337173e-01 6.92583499e-02 6.69186059e+01] [-1.99727120e-01 9.79725855e-01 -1.56948003e-02 -8.15476371e+00] [-7.09984480e-02 1.50538030e-03 9.97475290e-01 -6.91532486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.217719421 meters 0.05478763107978222 Centerline is valid? [True, True] Translation: X:66.95, Y:-8.16, Z:-6.92 [[ 9.77808717e-01 1.97908046e-01 6.87205851e-02 6.69496379e+01] [-1.97300917e-01 9.80219157e-01 -1.55805004e-02 -8.16060410e+00] [-7.04447404e-02 1.67611468e-03 9.97514275e-01 -6.91814609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.247719421 meters 0.05614983522371885 Centerline is valid? [True, True] Translation: X:66.98, Y:-8.17, Z:-6.92 [[ 9.78477282e-01 1.94661467e-01 6.84771628e-02 6.69803082e+01] [-1.94048815e-01 9.80868590e-01 -1.55520681e-02 -8.16876127e+00] [-7.01944865e-02 1.92943303e-03 9.97531459e-01 -6.92270590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.277719421 meters 0.05980524589100858 Centerline is valid? [True, True] Translation: X:67.01, Y:-8.18, Z:-6.93 [[ 9.80162112e-01 1.87129243e-01 6.53060562e-02 6.70082695e+01] [-1.86554827e-01 9.82332461e-01 -1.48402313e-02 -8.18347306e+00] [-6.69293001e-02 2.36267244e-03 9.97754923e-01 -6.92880918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.307719421 meters 0.06173106506038883 Centerline is valid? [True, True] Translation: X:67.04, Y:-8.19, Z:-6.93 [[ 9.80775021e-01 1.84046596e-01 6.48630011e-02 6.70377351e+01] [-1.83473839e-01 9.82914221e-01 -1.47304074e-02 -8.19240743e+00] [-6.64658475e-02 2.54655183e-03 9.97785451e-01 -6.93322891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.337719421 meters 0.06332399349078703 Centerline is valid? [True, True] Translation: X:67.07, Y:-8.19, Z:-6.93 [[ 9.81475111e-01 1.79794375e-01 6.61860216e-02 6.70708646e+01] [-1.79186513e-01 9.83699884e-01 -1.50576024e-02 -8.19302151e+00] [-6.78144540e-02 2.91901951e-03 9.97693680e-01 -6.93430409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.367719421 meters 0.06369242371901837 Centerline is valid? [True, True] Translation: X:67.10, Y:-8.20, Z:-6.94 [[ 9.81405399e-01 1.79925329e-01 6.68604479e-02 6.71021409e+01] [-1.79305328e-01 9.83675880e-01 -1.52106183e-02 -8.19622568e+00] [-6.85057854e-02 2.93934842e-03 9.97646389e-01 -6.93675251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.397719421 meters 0.061839133250497495 Centerline is valid? [True, True] Translation: X:67.14, Y:-8.19, Z:-6.94 [[ 9.80964794e-01 1.82893884e-01 6.52525863e-02 6.71353906e+01] [-1.82308774e-01 9.83128999e-01 -1.48621241e-02 -8.19417714e+00] [-6.68699014e-02 2.68310148e-03 9.97758096e-01 -6.94020411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42771942099999 meters 0.062222523990282684 Centerline is valid? [True, True] Translation: X:67.17, Y:-8.20, Z:-6.95 [[ 9.80463655e-01 1.85857896e-01 6.44039135e-02 6.71659764e+01] [-1.85292960e-01 9.82573534e-01 -1.46891122e-02 -8.19972840e+00] [-6.60116684e-02 2.46854882e-03 9.97815798e-01 -6.94718467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.457719421 meters 0.05956102142120344 Centerline is valid? [True, True] Translation: X:67.20, Y:-8.19, Z:-6.95 [[ 9.79657255e-01 1.90190935e-01 6.40239873e-02 6.71989024e+01] [-1.89639918e-01 9.81744671e-01 -1.46322610e-02 -8.19489692e+00] [-6.56381317e-02 2.19309691e-03 9.97841083e-01 -6.95024464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.487719421 meters 0.05930558341891922 Centerline is valid? [True, True] Translation: X:67.23, Y:-8.20, Z:-6.96 [[ 9.79078939e-01 1.93451319e-01 6.30953079e-02 6.72301409e+01] [-1.92923340e-01 9.81107958e-01 -1.44138918e-02 -8.19622352e+00] [-6.46916950e-02 1.93978036e-03 9.97903413e-01 -6.95585782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.517719421 meters 0.05471009940216292 Centerline is valid? [True, True] Translation: X:67.27, Y:-8.18, Z:-6.95 [[ 9.77259528e-01 2.01949975e-01 6.46530977e-02 6.72652208e+01] [-2.01412214e-01 9.79394780e-01 -1.47981370e-02 -8.18303091e+00] [-6.63093898e-02 1.43969680e-03 9.97798072e-01 -6.95228489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.547719421 meters 0.05441175364488327 Centerline is valid? [True, True] Translation: X:67.30, Y:-8.18, Z:-6.96 [[ 9.76171349e-01 2.06873471e-01 6.55199595e-02 6.72958827e+01] [-2.06332070e-01 9.78367061e-01 -1.49990098e-02 -8.18367483e+00] [-6.72054675e-02 1.12273476e-03 9.97738525e-01 -6.95852593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.577719421 meters 0.0519874338620319 Centerline is valid? [True, True] Translation: X:67.33, Y:-8.17, Z:-6.96 [[ 9.73820157e-01 2.17710361e-01 6.53949594e-02 6.73308304e+01] [-2.17195320e-01 9.76013349e-01 -1.49711632e-02 -8.17321868e+00] [-6.70857307e-02 3.75741382e-04 9.97747144e-01 -6.95880267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.607719421 meters 0.051509766550061856 Centerline is valid? [True, True] Translation: X:67.36, Y:-8.17, Z:-6.96 [[ 9.72390206e-01 2.24150173e-01 6.49152225e-02 6.73622175e+01] [-2.23656680e-01 9.74554614e-01 -1.48658583e-02 -8.17130160e+00] [-6.65956144e-02 -6.33080896e-05 9.97780046e-01 -6.96048297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.637719421 meters 0.05289869892717385 Centerline is valid? [True, True] Translation: X:67.39, Y:-8.16, Z:-6.97 [[ 9.69857697e-01 2.34945532e-01 6.46269665e-02 6.73931551e+01] [-2.34480127e-01 9.72008210e-01 -1.48023347e-02 -8.16194603e+00] [-6.62956845e-02 -7.97581078e-04 9.97799702e-01 -6.96940495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.667719421 meters 0.05345209623734532 Centerline is valid? [True, True] Translation: X:67.42, Y:-8.16, Z:-6.97 [[ 9.69005142e-01 2.38569803e-01 6.41364531e-02 6.74224712e+01] [-2.38119611e-01 9.71124794e-01 -1.46862365e-02 -8.16102726e+00] [-6.57881923e-02 -1.04110854e-03 9.97833067e-01 -6.97200611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.697719421 meters 0.053772708109318904 Centerline is valid? [True, True] Translation: X:67.45, Y:-8.16, Z:-6.97 [[ 9.67742763e-01 2.43343237e-01 6.52534492e-02 6.74533225e+01] [-2.42888436e-01 9.69939237e-01 -1.49360278e-02 -8.15574999e+00] [-6.69264621e-02 -1.39507540e-03 9.97756936e-01 -6.97020701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.727719421 meters 0.054340811031263904 Centerline is valid? [True, True] Translation: X:67.48, Y:-8.16, Z:-6.97 [[ 9.67442281e-01 2.44140639e-01 6.67141838e-02 6.74816401e+01] [-2.43667525e-01 9.69738693e-01 -1.52644919e-02 -8.15815734e+00] [-6.84220082e-02 -1.48856516e-03 9.97655358e-01 -6.97246439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.757719421 meters 0.053935598437082274 Centerline is valid? [True, True] Translation: X:67.51, Y:-8.17, Z:-6.98 [[ 9.67968828e-01 2.42112417e-01 6.64674837e-02 6.75075975e+01] [-2.41638565e-01 9.70247268e-01 -1.52000979e-02 -8.16777739e+00] [-6.81700269e-02 -1.34788645e-03 9.97672807e-01 -6.97683910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78771942099999 meters 0.052783683179718405 Centerline is valid? [True, True] Translation: X:67.53, Y:-8.18, Z:-6.98 [[ 9.69765832e-01 2.35289564e-01 6.47537784e-02 6.75328771e+01] [-2.34825169e-01 9.71924942e-01 -1.48002258e-02 -8.18468502e+00] [-6.64181510e-02 -8.53063745e-04 9.97791512e-01 -6.98331363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81771942099999 meters 0.05203080291827798 Centerline is valid? [True, True] Translation: X:67.56, Y:-8.20, Z:-6.99 [[ 9.70786257e-01 2.30926980e-01 6.51672703e-02 6.75596902e+01] [-2.30447204e-01 9.72970921e-01 -1.48887221e-02 -8.19641316e+00] [-6.68440666e-02 -5.63848457e-04 9.97763275e-01 -6.98615797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.847719421 meters 0.051510538050444435 Centerline is valid? [True, True] Translation: X:67.59, Y:-8.21, Z:-6.99 [[ 9.71715664e-01 2.26561093e-01 6.66238631e-02 6.75880475e+01] [-2.26049944e-01 9.73996917e-01 -1.52127750e-02 -8.20766601e+00] [-6.83380602e-02 -2.77828829e-04 9.97662183e-01 -6.98801150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.877719421 meters 0.05136389989368556 Centerline is valid? [True, True] Translation: X:67.62, Y:-8.22, Z:-6.99 [[ 9.72820640e-01 2.21585493e-01 6.72299848e-02 6.76155594e+01] [-2.21053220e-01 9.75140946e-01 -1.53495927e-02 -8.21967260e+00] [-6.89599580e-02 7.09960563e-05 9.97619426e-01 -6.98976241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.907719421 meters 0.051614441090249194 Centerline is valid? [True, True] Translation: X:67.64, Y:-8.23, Z:-6.99 [[ 9.73203120e-01 2.20326000e-01 6.58189981e-02 6.76440530e+01] [-2.19813082e-01 9.75426281e-01 -1.50259686e-02 -8.22919997e+00] [-6.75121921e-02 1.55442752e-04 9.97718437e-01 -6.99304539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.937719421 meters 0.05199200488309121 Centerline is valid? [True, True] Translation: X:67.67, Y:-8.24, Z:-7.00 [[ 9.73910833e-01 2.17871874e-01 6.34786277e-02 6.76733792e+01] [-2.17389862e-01 9.75977331e-01 -1.44878425e-02 -8.24159505e+00] [-6.51101950e-02 3.10256686e-04 9.97878032e-01 -6.99790563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.967719421 meters 0.05181782865258287 Centerline is valid? [True, True] Translation: X:67.70, Y:-8.25, Z:-7.00 [[ 9.74373697e-01 2.15798794e-01 6.34569070e-02 6.77036928e+01] [-2.15312535e-01 9.76437748e-01 -1.44857013e-02 -8.24850226e+00] [-6.50877163e-02 4.51418801e-04 9.97879444e-01 -6.99932550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.997719421 meters 0.05246665029089879 Centerline is valid? [True, True] Translation: X:67.73, Y:-8.26, Z:-7.01 [[ 9.74409254e-01 2.15672740e-01 6.33393587e-02 6.77339770e+01] [-2.15188432e-01 9.76465598e-01 -1.44524916e-02 -8.25506934e+00] [-6.49657132e-02 4.52744269e-04 9.97887394e-01 -7.00689344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.027719421 meters 0.05214791341515004 Centerline is valid? [True, True] Translation: X:67.77, Y:-8.26, Z:-7.01 [[ 9.74573464e-01 2.15173885e-01 6.25040942e-02 6.77651234e+01] [-2.14699447e-01 9.76575620e-01 -1.42900568e-02 -8.26052302e+00] [-6.41148216e-02 5.07115719e-04 9.97942399e-01 -7.00767898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.057719421 meters 0.052105997895705365 Centerline is valid? [True, True] Translation: X:67.80, Y:-8.27, Z:-7.01 [[ 9.74837171e-01 2.13497698e-01 6.41188142e-02 6.77950597e+01] [-2.12994573e-01 9.76943360e-01 -1.46623251e-02 -8.26836470e+00] [-6.57708224e-02 6.36420069e-04 9.97834552e-01 -7.00970738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.087719421 meters 0.05252094890787193 Centerline is valid? [True, True] Translation: X:67.82, Y:-8.28, Z:-7.01 [[ 9.75115890e-01 2.11851864e-01 6.53283118e-02 6.78245180e+01] [-2.11325975e-01 9.77301494e-01 -1.49372734e-02 -8.27818463e+00] [-6.70099459e-02 7.60003460e-04 9.97752018e-01 -7.01490671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.117719421 meters 0.05346939546768037 Centerline is valid? [True, True] Translation: X:67.85, Y:-8.29, Z:-7.02 [[ 9.76160714e-01 2.07003188e-01 6.52682268e-02 6.78541042e+01] [-2.06466567e-01 9.78339645e-01 -1.49364236e-02 -8.29046624e+00] [-6.69463811e-02 1.10464322e-03 9.97755963e-01 -7.01747734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.147719421 meters 0.05405447024372082 Centerline is valid? [True, True] Translation: X:67.89, Y:-8.30, Z:-7.02 [[ 9.76771512e-01 2.04527621e-01 6.39207776e-02 6.78859784e+01] [-2.04006802e-01 9.78859981e-01 -1.46410981e-02 -8.29616811e+00] [-6.55640001e-02 1.26073403e-03 9.97847570e-01 -7.02083231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17771942099999 meters 0.05384847132057643 Centerline is valid? [True, True] Translation: X:67.92, Y:-8.30, Z:-7.02 [[ 9.76401617e-01 2.06047797e-01 6.46853012e-02 6.79182854e+01] [-2.05517880e-01 9.78541228e-01 -1.48143944e-02 -8.29920626e+00] [-6.63497074e-02 1.17081263e-03 9.97795743e-01 -7.02394045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.207719421 meters 0.0518353797999643 Centerline is valid? [True, True] Translation: X:67.95, Y:-8.29, Z:-7.02 [[ 9.74525872e-01 2.13667203e-01 6.81590129e-02 6.79494952e+01] [-2.13094934e-01 9.76906242e-01 -1.56442699e-02 -8.29282429e+00] [-6.99276326e-02 7.21405420e-04 9.97551806e-01 -7.02407662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.237719421 meters 0.05104692477945599 Centerline is valid? [True, True] Translation: X:67.98, Y:-8.29, Z:-7.03 [[ 9.73358949e-01 2.18631501e-01 6.90841710e-02 6.79799821e+01] [-2.18056263e-01 9.75807426e-01 -1.58535182e-02 -8.29206063e+00] [-7.08789256e-02 3.66927720e-04 9.97484859e-01 -7.02563390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.267719421 meters 0.050875229101574986 Centerline is valid? [True, True] Translation: X:68.01, Y:-8.29, Z:-7.03 [[ 9.72099063e-01 2.24176249e-01 6.90537563e-02 6.80088652e+01] [-2.23615547e-01 9.74548617e-01 -1.58454774e-02 -8.29080575e+00] [-7.08484224e-02 -3.81197832e-05 9.97487092e-01 -7.02907455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.297719421 meters 0.051750610653512344 Centerline is valid? [True, True] Translation: X:68.04, Y:-8.28, Z:-7.03 [[ 9.69378790e-01 2.35361818e-01 7.00683692e-02 6.80387513e+01] [-2.34814133e-01 9.71907429e-01 -1.60708681e-02 -8.28160437e+00] [-7.18824373e-02 -8.74284660e-04 9.97412728e-01 -7.03256363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.327719421 meters 0.05313341481361951 Centerline is valid? [True, True] Translation: X:68.07, Y:-8.28, Z:-7.03 [[ 9.67228135e-01 2.43262853e-01 7.27524482e-02 6.80694432e+01] [-2.42695442e-01 9.69959201e-01 -1.66754772e-02 -8.27780763e+00] [-7.46234306e-02 -1.52769687e-03 9.97210615e-01 -7.03190764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.357719421 meters 0.05370721640269352 Centerline is valid? [True, True] Translation: X:68.10, Y:-8.28, Z:-7.03 [[ 9.66571767e-01 2.45948265e-01 7.24463257e-02 6.80974673e+01] [-2.45393580e-01 9.69281407e-01 -1.65995165e-02 -8.28215962e+00] [-7.43034988e-02 -1.73323923e-03 9.97234168e-01 -7.03420526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.387719421 meters 0.05526271960957314 Centerline is valid? [True, True] Translation: X:68.12, Y:-8.29, Z:-7.04 [[ 9.66281165e-01 2.48293747e-01 6.81976929e-02 6.81243213e+01] [-2.47808656e-01 9.68683098e-01 -1.56181154e-02 -8.28934995e+00] [-6.99398328e-02 -1.80848785e-03 9.97549572e-01 -7.04196155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.417719421 meters 0.05561572443387757 Centerline is valid? [True, True] Translation: X:68.15, Y:-8.30, Z:-7.05 [[ 9.66329156e-01 2.48639901e-01 6.62281078e-02 6.81516591e+01] [-2.48183650e-01 9.68594348e-01 -1.51613283e-02 -8.29796763e+00] [-6.79178820e-02 -1.78589996e-03 9.97689316e-01 -7.04627180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.447719421 meters 0.05612228880675551 Centerline is valid? [True, True] Translation: X:68.18, Y:-8.31, Z:-7.05 [[ 9.66278075e-01 2.49451467e-01 6.38799452e-02 6.81794416e+01] [-2.49029261e-01 9.68385658e-01 -1.46166064e-02 -8.30717127e+00] [-6.55065567e-02 -1.78426928e-03 9.97850544e-01 -7.05156945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.477719421 meters 0.0564598746488601 Centerline is valid? [True, True] Translation: X:68.21, Y:-8.31, Z:-7.06 [[ 9.66074196e-01 2.50366723e-01 6.33809999e-02 6.82069120e+01] [-2.49953134e-01 9.68149340e-01 -1.45012666e-02 -8.31447962e+00] [-6.49929078e-02 -1.83298008e-03 9.97884042e-01 -7.05579415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.507719421 meters 0.057566652167781084 Centerline is valid? [True, True] Translation: X:68.23, Y:-8.32, Z:-7.06 [[ 9.65918171e-01 2.51390706e-01 6.16830622e-02 6.82326785e+01] [-2.51001374e-01 9.67883914e-01 -1.41081164e-02 -8.32407214e+00] [-6.32486930e-02 -1.85524737e-03 9.97996073e-01 -7.06161364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53771942099999 meters 0.05752055062400707 Centerline is valid? [True, True] Translation: X:68.26, Y:-8.33, Z:-7.06 [[ 9.65911690e-01 2.51403850e-01 6.17309620e-02 6.82580680e+01] [-2.51014277e-01 9.67880486e-01 -1.41137648e-02 -8.33273773e+00] [-6.32964483e-02 -1.86270241e-03 9.97993031e-01 -7.06312929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56771942099999 meters 0.05653871695854583 Centerline is valid? [True, True] Translation: X:68.29, Y:-8.34, Z:-7.06 [[ 9.66321599e-01 2.49038063e-01 6.48275389e-02 6.82857289e+01] [-2.48604079e-01 9.68492010e-01 -1.48067138e-02 -8.34385786e+00] [-6.64723887e-02 -1.80834327e-03 9.97786626e-01 -7.06370464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.597719421 meters 0.05578729866594966 Centerline is valid? [True, True] Translation: X:68.31, Y:-8.35, Z:-7.07 [[ 9.66640415e-01 2.47591521e-01 6.56105748e-02 6.83136290e+01] [-2.47143591e-01 9.68862968e-01 -1.49865057e-02 -8.35334283e+00] [-6.72781879e-02 -1.72867095e-03 9.97732758e-01 -7.06552981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.627719421 meters 0.05534195330312196 Centerline is valid? [True, True] Translation: X:68.34, Y:-8.37, Z:-7.07 [[ 9.67696062e-01 2.43772996e-01 6.43355075e-02 6.83388424e+01] [-2.43334657e-01 9.69831241e-01 -1.46836125e-02 -8.36653109e+00] [-6.59740533e-02 -1.44578466e-03 9.97820291e-01 -7.07168368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.657719421 meters 0.054231401649867436 Centerline is valid? [True, True] Translation: X:68.37, Y:-8.38, Z:-7.07 [[ 9.68557140e-01 2.40775732e-01 6.26427476e-02 6.83654191e+01] [-2.40354386e-01 9.70580017e-01 -1.42898817e-02 -8.37909784e+00] [-6.42404557e-02 -1.21589216e-03 9.97933708e-01 -7.07394444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.687719421 meters 0.05388426864707679 Centerline is valid? [True, True] Translation: X:68.39, Y:-8.39, Z:-7.08 [[ 9.69222276e-01 2.37719058e-01 6.40142807e-02 6.83910957e+01] [-2.37272728e-01 9.71333396e-01 -1.45974748e-02 -8.38942730e+00] [-6.56493067e-02 -1.04064526e-03 9.97842215e-01 -7.07831937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.717719421 meters 0.05388426864707679 Centerline is valid? [True, True] Translation: X:68.42, Y:-8.40, Z:-7.08 [[ 9.69241951e-01 2.37638353e-01 6.40160460e-02 6.84186188e+01] [-2.37192358e-01 9.71353141e-01 -1.45897282e-02 -8.39558531e+00] [-6.56492664e-02 -1.04314022e-03 9.97842215e-01 -7.08122261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.747719421 meters 0.05226659761646234 Centerline is valid? [True, True] Translation: X:68.45, Y:-8.42, Z:-7.08 [[ 9.70806724e-01 2.30425063e-01 6.66227857e-02 6.84453610e+01] [-2.29925548e-01 9.73089897e-01 -1.51754923e-02 -8.41502677e+00] [-6.83267734e-02 -5.85810541e-04 9.97662823e-01 -7.08190820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.777719421 meters 0.051185493092973794 Centerline is valid? [True, True] Translation: X:68.47, Y:-8.44, Z:-7.08 [[ 9.72534986e-01 2.22417322e-01 6.86020113e-02 6.84728590e+01] [-2.21868023e-01 9.74951555e-01 -1.56219766e-02 -8.43804936e+00] [-7.03582358e-02 -2.76738249e-05 9.97521788e-01 -7.08102860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.807719421 meters 0.051006222289936946 Centerline is valid? [True, True] Translation: X:68.50, Y:-8.45, Z:-7.08 [[ 9.73190297e-01 2.19581326e-01 6.84447757e-02 6.85038880e+01] [-2.19027865e-01 9.75594184e-01 -1.55814852e-02 -8.45110349e+00] [-7.01957282e-02 1.72437082e-04 9.97533223e-01 -7.08295600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.837719421 meters 0.051735636164993014 Centerline is valid? [True, True] Translation: X:68.53, Y:-8.46, Z:-7.09 [[ 9.73578875e-01 2.18510535e-01 6.63122873e-02 6.85327992e+01] [-2.17986841e-01 9.75834553e-01 -1.51215808e-02 -8.46017991e+00] [-6.80140459e-02 2.66845642e-04 9.97684328e-01 -7.09107980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.867719421 meters 0.051828715916942505 Centerline is valid? [True, True] Translation: X:68.56, Y:-8.47, Z:-7.10 [[ 9.73372155e-01 2.19901109e-01 6.47313676e-02 6.85641497e+01] [-2.19404009e-01 9.75522152e-01 -1.47787605e-02 -8.46554608e+00] [-6.63967488e-02 1.82912374e-04 9.97793284e-01 -7.09544913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89771942099999 meters 0.052330959556737076 Centerline is valid? [True, True] Translation: X:68.59, Y:-8.47, Z:-7.10 [[ 9.73073436e-01 2.22094852e-01 6.16600735e-02 6.85947112e+01] [-2.21647051e-01 9.75025063e-01 -1.40964668e-02 -8.46965496e+00] [-6.32508698e-02 5.01239072e-05 9.97997658e-01 -7.10191132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92771942099999 meters 0.052586560355459534 Centerline is valid? [True, True] Translation: X:68.63, Y:-8.47, Z:-7.11 [[ 9.71892189e-01 2.27697346e-01 5.98288598e-02 6.86251615e+01] [-2.27284630e-01 9.73731915e-01 -1.37060346e-02 -8.47165932e+00] [-6.13780979e-02 -2.77392275e-04 9.98114549e-01 -7.10552004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.957719421 meters 0.05259015882732619 Centerline is valid? [True, True] Translation: X:68.65, Y:-8.48, Z:-7.11 [[ 9.70546077e-01 2.32650797e-01 6.25613263e-02 6.86547637e+01] [-2.32209696e-01 9.72560140e-01 -1.43328492e-02 -8.47681392e+00] [-6.41792011e-02 -6.16655971e-04 9.97938199e-01 -7.10530296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.987719421 meters 0.05214196917958842 Centerline is valid? [True, True] Translation: X:68.69, Y:-8.48, Z:-7.10 [[ 9.69741909e-01 2.35201479e-01 6.54285367e-02 6.86850113e+01] [-2.34724931e-01 9.71946287e-01 -1.49873694e-02 -8.48246011e+00] [-6.71180747e-02 -8.23828584e-04 9.97744699e-01 -7.10356132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.017719421 meters 0.05239734466032394 Centerline is valid? [True, True] Translation: X:68.71, Y:-8.49, Z:-7.10 [[ 9.68811853e-01 2.38066285e-01 6.87607261e-02 6.87139014e+01] [-2.37546956e-01 9.71248317e-01 -1.57527814e-02 -8.48503411e+00] [-7.05339457e-02 -1.07241985e-03 9.97508803e-01 -7.10458885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.047719421 meters 0.05381365237100763 Centerline is valid? [True, True] Translation: X:68.75, Y:-8.48, Z:-7.11 [[ 9.67371506e-01 2.43844371e-01 6.87916586e-02 6.87451400e+01] [-2.43339523e-01 9.69813216e-01 -1.57544173e-02 -8.48200820e+00] [-7.05566856e-02 -1.49935496e-03 9.97506645e-01 -7.10705149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.077719421 meters 0.05692402289512184 Centerline is valid? [True, True] Translation: X:68.77, Y:-8.48, Z:-7.12 [[ 9.65964144e-01 2.50457519e-01 6.46861975e-02 6.87746339e+01] [-2.50026174e-01 9.68125791e-01 -1.48109581e-02 -8.48237688e+00] [-6.63338920e-02 -1.86638804e-03 9.97795736e-01 -7.11612798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.107719421 meters 0.05802565790672213 Centerline is valid? [True, True] Translation: X:68.80, Y:-8.49, Z:-7.12 [[ 9.65255735e-01 2.53217380e-01 6.45160785e-02 6.88026105e+01] [-2.52794428e-01 9.67407233e-01 -1.47723449e-02 -8.48854265e+00] [-6.61539354e-02 -2.05021452e-03 9.97807323e-01 -7.12003427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.137719421 meters 0.06010951378853131 Centerline is valid? [True, True] Translation: X:68.83, Y:-8.49, Z:-7.12 [[ 9.63962416e-01 2.58140190e-01 6.43436290e-02 6.88316215e+01] [-2.57730783e-01 9.66104521e-01 -1.47274345e-02 -8.49233491e+00] [-6.59644136e-02 -2.38664057e-03 9.97819122e-01 -7.12150471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.167719421 meters 0.060003016981916055 Centerline is valid? [True, True] Translation: X:68.86, Y:-8.50, Z:-7.12 [[ 9.63419458e-01 2.60328883e-01 6.36539139e-02 6.88602996e+01] [-2.59933471e-01 9.65516722e-01 -1.45619677e-02 -8.49872232e+00] [-6.52498190e-02 -2.51649978e-03 9.97865787e-01 -7.12310080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.197719421 meters 0.06198097659607298 Centerline is valid? [True, True] Translation: X:68.89, Y:-8.50, Z:-7.13 [[ 9.63199644e-01 2.61317748e-01 6.29244047e-02 6.88872779e+01] [-2.60933424e-01 9.65249458e-01 -1.43955718e-02 -8.50154759e+00] [-6.44995659e-02 -2.55327076e-03 9.97914469e-01 -7.12852178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.227719421 meters 0.06146690003862954 Centerline is valid? [True, True] Translation: X:68.91, Y:-8.51, Z:-7.13 [[ 9.63121225e-01 2.61345039e-01 6.40021561e-02 6.89146733e+01] [-2.60948177e-01 9.65241919e-01 -1.46316787e-02 -8.51179705e+00] [-6.56014807e-02 -2.60916570e-03 9.97842492e-01 -7.13100609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.257719421 meters 0.061191459549959755 Centerline is valid? [True, True] Translation: X:68.94, Y:-8.52, Z:-7.13 [[ 9.63561740e-01 2.59426252e-01 6.51674288e-02 6.89411622e+01] [-2.59010766e-01 9.65759610e-01 -1.48928946e-02 -8.52080901e+00] [-6.67996784e-02 -2.52884221e-03 9.97763202e-01 -7.13467338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28771942099999 meters 0.05912288656037697 Centerline is valid? [True, True] Translation: X:68.97, Y:-8.53, Z:-7.14 [[ 9.64272567e-01 2.56557670e-01 6.60043823e-02 6.89680272e+01] [-2.56125273e-01 9.66526024e-01 -1.50761322e-02 -8.53249438e+00] [-6.76628505e-02 -2.36788968e-03 9.97705433e-01 -7.13558325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31771942099999 meters 0.05670526604156171 Centerline is valid? [True, True] Translation: X:68.99, Y:-8.55, Z:-7.13 [[ 9.64943730e-01 2.53418751e-01 6.82827590e-02 6.89945417e+01] [-2.52948646e-01 9.67354106e-01 -1.55889830e-02 -8.55049606e+00] [-7.00041479e-02 -2.22954006e-03 9.97544209e-01 -7.13344190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.347719421 meters 0.05890431473369382 Centerline is valid? [True, True] Translation: X:69.02, Y:-8.56, Z:-7.14 [[ 9.65035608e-01 2.53065750e-01 6.82934919e-02 6.90219342e+01] [-2.52594833e-01 9.67446564e-01 -1.55883388e-02 -8.55641392e+00] [-7.00151788e-02 -2.20728111e-03 9.97543484e-01 -7.14044610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.377719421 meters 0.05799194771989366 Centerline is valid? [True, True] Translation: X:69.05, Y:-8.57, Z:-7.14 [[ 9.65121147e-01 2.52801194e-01 6.80641450e-02 6.90489300e+01] [-2.52332910e-01 9.67515784e-01 -1.55341420e-02 -8.56768015e+00] [-6.97801843e-02 -2.18249486e-03 9.97560005e-01 -7.14171230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.407719421 meters 0.058851414798986985 Centerline is valid? [True, True] Translation: X:69.08, Y:-8.58, Z:-7.15 [[ 9.65060675e-01 2.53472955e-01 6.64029743e-02 6.90761076e+01] [-2.53029277e-01 9.67340012e-01 -1.51488158e-02 -8.57551685e+00] [-6.80740691e-02 -2.18237012e-03 9.97677883e-01 -7.14935352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.437719421 meters 0.0568194921189872 Centerline is valid? [True, True] Translation: X:69.10, Y:-8.59, Z:-7.15 [[ 9.65109643e-01 2.53112358e-01 6.70634825e-02 6.91044278e+01] [-2.52659378e-01 9.67434422e-01 -1.52930698e-02 -8.58754781e+00] [-6.87503864e-02 -2.18472863e-03 9.97631501e-01 -7.14864645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.467719421 meters 0.056567055192646716 Centerline is valid? [True, True] Translation: X:69.13, Y:-8.60, Z:-7.15 [[ 9.65628853e-01 2.51118950e-01 6.70834663e-02 6.91324436e+01] [-2.50660998e-01 9.67954075e-01 -1.52961607e-02 -8.60223984e+00] [-6.87748704e-02 -2.04479453e-03 9.97630110e-01 -7.15334270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.497719421 meters 0.057734265191893695 Centerline is valid? [True, True] Translation: X:69.16, Y:-8.61, Z:-7.16 [[ 9.66128634e-01 2.49525513e-01 6.58215819e-02 6.91613400e+01] [-2.49081312e-01 9.68366361e-01 -1.50030478e-02 -8.61157895e+00] [-6.74830489e-02 -1.90005190e-03 9.97718612e-01 -7.16250726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.527719421 meters 0.05448762145462515 Centerline is valid? [True, True] Translation: X:69.19, Y:-8.63, Z:-7.16 [[ 9.67606716e-01 2.43960446e-01 6.49657198e-02 6.91884914e+01] [-2.43513403e-01 9.69784075e-01 -1.48347704e-02 -8.63370986e+00] [-6.66218177e-02 -1.46580001e-03 9.97777222e-01 -7.16268741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.557719421 meters 0.05358622189756617 Centerline is valid? [True, True] Translation: X:69.22, Y:-8.65, Z:-7.17 [[ 9.68479842e-01 2.40361807e-01 6.53681731e-02 6.92192126e+01] [-2.39900965e-01 9.70682595e-01 -1.49273657e-02 -8.64547551e+00] [-6.70397165e-02 -1.22503499e-03 9.97749556e-01 -7.16598269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.587719421 meters 0.0524360738215134 Centerline is valid? [True, True] Translation: X:69.25, Y:-8.66, Z:-7.17 [[ 9.69742468e-01 2.35151618e-01 6.55992530e-02 6.92487119e+01] [-2.34675560e-01 9.71958314e-01 -1.49805531e-02 -8.66097915e+00] [-6.72824407e-02 -8.67262909e-04 9.97733592e-01 -7.16842047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.617719421 meters 0.05212365408835492 Centerline is valid? [True, True] Translation: X:69.28, Y:-8.67, Z:-7.17 [[ 9.70276306e-01 2.32815939e-01 6.60350512e-02 6.92777450e+01] [-2.32326429e-01 9.72520575e-01 -1.51050250e-02 -8.67297426e+00] [-6.77371365e-02 -6.85639786e-04 9.97702967e-01 -7.17259624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64771942099999 meters 0.05123749360705962 Centerline is valid? [True, True] Translation: X:69.31, Y:-8.69, Z:-7.17 [[ 9.71452262e-01 2.27514670e-01 6.72129209e-02 6.93076072e+01] [-2.26993987e-01 9.73774604e-01 -1.53866988e-02 -8.68949321e+00] [-6.89509352e-02 -3.09485550e-04 9.97620004e-01 -7.17304795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67771942099999 meters 0.05070263794935972 Centerline is valid? [True, True] Translation: X:69.34, Y:-8.70, Z:-7.17 [[ 9.72340136e-01 2.23252787e-01 6.86502282e-02 6.93383074e+01] [-2.22698432e-01 9.74760582e-01 -1.57230923e-02 -8.70142147e+00] [-7.04277606e-02 -1.04452251e-07 9.97516882e-01 -7.17185857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.707719421 meters 0.05087988010084853 Centerline is valid? [True, True] Translation: X:69.37, Y:-8.71, Z:-7.18 [[ 9.72481249e-01 2.22062940e-01 7.04859623e-02 6.93681925e+01] [-2.21473626e-01 9.75032327e-01 -1.61677035e-02 -8.70899849e+00] [-7.23163396e-02 1.12006760e-04 9.97381740e-01 -7.17646635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.737719421 meters 0.0503717690570509 Centerline is valid? [True, True] Translation: X:69.40, Y:-8.72, Z:-7.17 [[ 9.72625850e-01 2.21023834e-01 7.17455282e-02 6.94002702e+01] [-2.20408886e-01 9.75268383e-01 -1.64773737e-02 -8.71638945e+00] [-7.36130376e-02 2.12967715e-04 9.97286857e-01 -7.17474906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.767719421 meters 0.05087595535684663 Centerline is valid? [True, True] Translation: X:69.43, Y:-8.73, Z:-7.18 [[ 9.73217218e-01 2.17720671e-01 7.37967258e-02 6.94296331e+01] [-2.17058574e-01 9.76010993e-01 -1.69740156e-02 -8.72546624e+00] [-7.57220097e-02 5.01192152e-04 9.97128841e-01 -7.18088253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.797719421 meters 0.05177192560849031 Centerline is valid? [True, True] Translation: X:69.46, Y:-8.74, Z:-7.18 [[ 9.74542914e-01 2.12319561e-01 7.20174524e-02 6.94600529e+01] [-2.11672332e-01 9.77199851e-01 -1.65914312e-02 -8.73756821e+00] [-7.38981291e-02 9.24959607e-04 9.97265366e-01 -7.18410008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.827719421 meters 0.05238175282746668 Centerline is valid? [True, True] Translation: X:69.49, Y:-8.75, Z:-7.19 [[ 9.75034624e-01 2.10293217e-01 7.13038894e-02 6.94904351e+01] [-2.09653369e-01 9.77637777e-01 -1.64268648e-02 -8.74825283e+00] [-7.31638341e-02 1.06766139e-03 9.97319364e-01 -7.18776099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.857719421 meters 0.05291540590110845 Centerline is valid? [True, True] Translation: X:69.52, Y:-8.76, Z:-7.19 [[ 9.75595392e-01 2.08123318e-01 6.99879623e-02 6.95214022e+01] [-2.07499739e-01 9.78101822e-01 -1.61457346e-02 -8.75698037e+00] [-7.18156573e-02 1.22922030e-03 9.97417165e-01 -7.19176428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.887719421 meters 0.05274360936976513 Centerline is valid? [True, True] Translation: X:69.55, Y:-8.76, Z:-7.19 [[ 9.75393334e-01 2.08900292e-01 7.04876705e-02 6.95535821e+01] [-2.08268135e-01 9.77936205e-01 -1.62838149e-02 -8.76095782e+00] [-7.23341387e-02 1.20278884e-03 9.97379730e-01 -7.19476152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.917719421 meters 0.05237016710888184 Centerline is valid? [True, True] Translation: X:69.59, Y:-8.76, Z:-7.20 [[ 9.74731788e-01 2.11416012e-01 7.21194279e-02 6.95853153e+01] [-2.10759298e-01 9.77395590e-01 -1.66846827e-02 -8.76347002e+00] [-7.40166199e-02 1.06325059e-03 9.97256441e-01 -7.19820705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.947719421 meters 0.0507117321636604 Centerline is valid? [True, True] Translation: X:69.62, Y:-8.76, Z:-7.20 [[ 9.73288956e-01 2.17505531e-01 7.34843674e-02 6.96189663e+01] [-2.16838640e-01 9.76058877e-01 -1.70315240e-02 -8.75828617e+00] [-7.54295198e-02 6.42343972e-04 9.97150929e-01 -7.19685353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.977719421 meters 0.05029691537320597 Centerline is valid? [True, True] Translation: X:69.65, Y:-8.76, Z:-7.20 [[ 9.72384565e-01 2.21616274e-01 7.31743434e-02 6.96500510e+01] [-2.20966863e-01 9.75133901e-01 -1.69564217e-02 -8.75945433e+00] [-7.51126019e-02 3.19057624e-04 9.97175007e-01 -7.20039115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.007719421 meters 0.05059976423742662 Centerline is valid? [True, True] Translation: X:69.68, Y:-8.75, Z:-7.21 [[ 9.70454053e-01 2.30712065e-01 7.06461164e-02 6.96845115e+01] [-2.30129363e-01 9.73022004e-01 -1.63907380e-02 -8.74929900e+00] [-7.25217668e-02 -3.51287660e-04 9.97366768e-01 -7.20703837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03771942099999 meters 0.051185706848576165 Centerline is valid? [True, True] Translation: X:69.72, Y:-8.75, Z:-7.21 [[ 9.69353831e-01 2.35810265e-01 6.88960787e-02 6.97171143e+01] [-2.35267623e-01 9.71798865e-01 -1.60034720e-02 -8.74845008e+00] [-7.07269141e-02 -6.95989771e-04 9.97495473e-01 -7.21176639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06771942099999 meters 0.05339970380608021 Centerline is valid? [True, True] Translation: X:69.75, Y:-8.74, Z:-7.22 [[ 9.67470126e-01 2.44271331e-01 6.58260701e-02 6.97492054e+01] [-2.43793698e-01 9.69706145e-01 -1.53174975e-02 -8.74067800e+00] [-6.75735701e-02 -1.22875986e-03 9.97713537e-01 -7.22016189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.097719421 meters 0.05420217812686381 Centerline is valid? [True, True] Translation: X:69.78, Y:-8.74, Z:-7.22 [[ 9.66750043e-01 2.47373433e-01 6.48131047e-02 6.97796860e+01] [-2.46916734e-01 9.68919184e-01 -1.50911105e-02 -8.74265052e+00] [-6.65318003e-02 -1.41410841e-03 9.97783303e-01 -7.22329168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.127719421 meters 0.05577553210573803 Centerline is valid? [True, True] Translation: X:69.81, Y:-8.74, Z:-7.23 [[ 9.66018040e-01 2.50904235e-01 6.20983934e-02 6.98094102e+01] [-2.50492356e-01 9.68010610e-01 -1.44581366e-02 -8.74201432e+00] [-6.37395114e-02 -1.58835213e-03 9.97965306e-01 -7.22888511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.157719421 meters 0.05612141996662897 Centerline is valid? [True, True] Translation: X:69.84, Y:-8.75, Z:-7.23 [[ 9.66019240e-01 2.51057842e-01 6.14555833e-02 6.98374948e+01] [-2.50654403e-01 9.67970803e-01 -1.43141590e-02 -8.74633814e+00] [-6.30808922e-02 -1.57635958e-03 9.98007172e-01 -7.23252840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.187719421 meters 0.05588450430605782 Centerline is valid? [True, True] Translation: X:69.87, Y:-8.75, Z:-7.23 [[ 9.65727132e-01 2.51840349e-01 6.28294975e-02 6.98673560e+01] [-2.51420678e-01 9.67767354e-01 -1.46284510e-02 -8.74721570e+00] [-6.44883707e-02 -1.66954283e-03 9.97917062e-01 -7.23321034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.217719421 meters 0.055469421290166875 Centerline is valid? [True, True] Translation: X:69.90, Y:-8.75, Z:-7.23 [[ 9.65001331e-01 2.53234975e-01 6.81504150e-02 6.98976185e+01] [-2.52745239e-01 9.67402892e-01 -1.58583786e-02 -8.75077038e+00] [-6.99448047e-02 -1.92133645e-03 9.97549013e-01 -7.23159517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.247719421 meters 0.05498127293061494 Centerline is valid? [True, True] Translation: X:69.93, Y:-8.76, Z:-7.23 [[ 9.64825869e-01 2.53812740e-01 6.84845698e-02 6.99254024e+01] [-2.53319592e-01 9.67251365e-01 -1.59367856e-02 -8.75975171e+00] [-7.02867529e-02 -1.97226024e-03 9.97524878e-01 -7.23160748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.277719421 meters 0.056473075747457184 Centerline is valid? [True, True] Translation: X:69.95, Y:-8.76, Z:-7.24 [[ 9.64628805e-01 2.54436314e-01 6.89451281e-02 6.99522212e+01] [-2.53938509e-01 9.67087386e-01 -1.60380947e-02 -8.76404925e+00] [-7.07566375e-02 -2.03701490e-03 9.97491528e-01 -7.23699774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.307719421 meters 0.055810365349637264 Centerline is valid? [True, True] Translation: X:69.98, Y:-8.77, Z:-7.24 [[ 9.64379960e-01 2.55188897e-01 6.96413618e-02 6.99798262e+01] [-2.54683576e-01 9.66888889e-01 -1.61911257e-02 -8.77395666e+00] [-7.14672544e-02 -2.12211386e-03 9.97440689e-01 -7.23686698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.337719421 meters 0.05568348352883241 Centerline is valid? [True, True] Translation: X:70.01, Y:-8.78, Z:-7.24 [[ 9.64656581e-01 2.54338528e-01 6.89173026e-02 7.00078236e+01] [-2.53841987e-01 9.67113093e-01 -1.60159667e-02 -8.78175311e+00] [-7.07243030e-02 -2.04419734e-03 9.97493807e-01 -7.24124193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.367719421 meters 0.055039273989630745 Centerline is valid? [True, True] Translation: X:70.03, Y:-8.80, Z:-7.25 [[ 9.65588842e-01 2.50993483e-01 6.81209229e-02 7.00334966e+01] [-2.50500364e-01 9.67987135e-01 -1.58263595e-02 -8.79528379e+00] [-6.99124901e-02 -1.78255983e-03 9.97551536e-01 -7.24840977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39771942099999 meters 0.05296949290380554 Centerline is valid? [True, True] Translation: X:70.06, Y:-8.82, Z:-7.25 [[ 9.67114009e-01 2.44592195e-01 6.97506372e-02 7.00595656e+01] [-2.44059022e-01 9.69625090e-01 -1.61981308e-02 -8.81663995e+00] [-7.15939042e-02 -1.35783309e-03 9.97432940e-01 -7.25204221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42771942099999 meters 0.05198877905240312 Centerline is valid? [True, True] Translation: X:70.09, Y:-8.83, Z:-7.26 [[ 9.68098287e-01 2.40767282e-01 6.94033250e-02 7.00883687e+01] [-2.40229972e-01 9.70582279e-01 -1.61120961e-02 -8.83070804e+00] [-7.12409030e-02 -1.07466618e-03 9.97458560e-01 -7.25550839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.457719421 meters 0.05123602239288438 Centerline is valid? [True, True] Translation: X:70.12, Y:-8.85, Z:-7.26 [[ 9.69375128e-01 2.35765669e-01 6.87488893e-02 7.01165523e+01] [-2.35225259e-01 9.71809689e-01 -1.59689275e-02 -8.84553901e+00] [-7.05757616e-02 -6.91594149e-04 9.97506182e-01 -7.26097559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.487719421 meters 0.05118006372623135 Centerline is valid? [True, True] Translation: X:70.15, Y:-8.85, Z:-7.26 [[ 9.69581982e-01 2.35072308e-01 6.82040299e-02 7.01477255e+01] [-2.34537523e-01 9.71977688e-01 -1.58595001e-02 -8.85418988e+00] [-7.00209246e-02 -6.19318719e-04 9.97545331e-01 -7.26472120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.517719421 meters 0.05150275689294363 Centerline is valid? [True, True] Translation: X:70.18, Y:-8.86, Z:-7.27 [[ 9.69675231e-01 2.35202389e-01 6.64061923e-02 7.01791299e+01] [-2.34694150e-01 9.71946238e-01 -1.54650124e-02 -8.86129357e+00] [-6.81806566e-02 -5.89105374e-04 9.97672818e-01 -7.26997988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.547719421 meters 0.052560813670588916 Centerline is valid? [True, True] Translation: X:70.21, Y:-8.87, Z:-7.28 [[ 9.69703201e-01 2.36299722e-01 6.19527595e-02 7.02076234e+01] [-2.35858106e-01 9.71680032e-01 -1.44523138e-02 -8.86655681e+00] [-6.36133370e-02 -5.97605546e-04 9.97974442e-01 -7.27838705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.577719421 meters 0.05277868010097313 Centerline is valid? [True, True] Translation: X:70.24, Y:-8.87, Z:-7.28 [[ 9.69517695e-01 2.37166296e-01 6.15433712e-02 7.02383525e+01] [-2.36732282e-01 9.71468849e-01 -1.43562577e-02 -8.87352348e+00] [-6.31922884e-02 -6.50656764e-04 9.98001158e-01 -7.28186495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.607719421 meters 0.052721777469164295 Centerline is valid? [True, True] Translation: X:70.27, Y:-8.88, Z:-7.28 [[ 9.69253737e-01 2.38241598e-01 6.15478201e-02 7.02690438e+01] [-2.37808042e-01 9.71205672e-01 -1.43832513e-02 -8.87940919e+00] [-6.32022808e-02 -6.95546531e-04 9.98000495e-01 -7.28470309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.637719421 meters 0.052721777469164295 Centerline is valid? [True, True] Translation: X:70.30, Y:-8.89, Z:-7.29 [[ 9.69186871e-01 2.38513063e-01 6.15493899e-02 7.02996928e+01] [-2.38080480e-01 9.71139022e-01 -1.43765428e-02 -8.88680603e+00] [-6.32020075e-02 -7.20151767e-04 9.98000495e-01 -7.28794876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.667719421 meters 0.05301706478469058 Centerline is valid? [True, True] Translation: X:70.33, Y:-8.89, Z:-7.29 [[ 9.69004734e-01 2.39158153e-01 6.19128735e-02 7.03300319e+01] [-2.38719907e-01 9.70980346e-01 -1.44904652e-02 -8.89133410e+00] [-6.35816963e-02 -7.38506043e-04 9.97976364e-01 -7.29164098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.697719421 meters 0.05298205415138767 Centerline is valid? [True, True] Translation: X:70.36, Y:-8.89, Z:-7.29 [[ 9.68782097e-01 2.39687277e-01 6.33344973e-02 7.03609529e+01] [-2.39229644e-01 9.70849827e-01 -1.48253366e-02 -8.89287550e+00] [-6.50417303e-02 -7.88968602e-04 9.97882233e-01 -7.29371934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.727719421 meters 0.052032227097429655 Centerline is valid? [True, True] Translation: X:70.39, Y:-8.90, Z:-7.29 [[ 9.68658818e-01 2.40193525e-01 6.33021780e-02 7.03925147e+01] [-2.39738192e-01 9.70724665e-01 -1.48062157e-02 -8.89930072e+00] [-6.50053427e-02 -8.33778337e-04 9.97884568e-01 -7.29206126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.757719421 meters 0.052855190941511025 Centerline is valid? [True, True] Translation: X:70.42, Y:-8.90, Z:-7.30 [[ 9.68655879e-01 2.40918173e-01 6.05328223e-02 7.04229622e+01] [-2.40502080e-01 9.70545080e-01 -1.41773322e-02 -8.90477686e+00] [-6.21654098e-02 -8.25313478e-04 9.98065519e-01 -7.29839130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78771942099999 meters 0.053218211079324194 Centerline is valid? [True, True] Translation: X:70.45, Y:-8.91, Z:-7.30 [[ 9.68320742e-01 2.42211090e-01 6.07349114e-02 7.04522925e+01] [-2.41792976e-01 9.70223174e-01 -1.42530595e-02 -8.91187249e+00] [-6.23786676e-02 -8.83741812e-04 9.98052163e-01 -7.30170640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81771942099999 meters 0.052793854964444574 Centerline is valid? [True, True] Translation: X:70.48, Y:-8.92, Z:-7.30 [[ 9.66502967e-01 2.47627706e-01 6.74724603e-02 7.04836216e+01] [-2.47124620e-01 9.68854295e-01 -1.58359228e-02 -8.91841826e+00] [-6.92923963e-02 -1.36863974e-03 9.97595454e-01 -7.29551231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.847719421 meters 0.05369331342676643 Centerline is valid? [True, True] Translation: X:70.51, Y:-8.92, Z:-7.30 [[ 9.65523405e-01 2.50848940e-01 6.95655333e-02 7.05138215e+01] [-2.50322341e-01 9.68024842e-01 -1.63288714e-02 -8.92214344e+00] [-7.14372444e-02 -1.64789964e-03 9.97443735e-01 -7.29747749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.877719421 meters 0.05544736989236784 Centerline is valid? [True, True] Translation: X:70.55, Y:-8.92, Z:-7.30 [[ 9.63848831e-01 2.56988007e-01 7.03746793e-02 7.05450921e+01] [-2.56465211e-01 9.66412256e-01 -1.65210929e-02 -8.92282403e+00] [-7.22566754e-02 -2.12482089e-03 9.97383807e-01 -7.30102295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.907719421 meters 0.056865879635694803 Centerline is valid? [True, True] Translation: X:70.57, Y:-8.93, Z:-7.31 [[ 9.63230348e-01 2.59527351e-01 6.95187043e-02 7.05728646e+01] [-2.59023724e-01 9.65733052e-01 -1.63212030e-02 -8.92590014e+00] [-7.13723091e-02 -2.28591562e-03 9.97447125e-01 -7.30616382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.937719421 meters 0.05807938859870272 Centerline is valid? [True, True] Translation: X:70.60, Y:-8.94, Z:-7.31 [[ 9.62143245e-01 2.63789366e-01 6.85240573e-02 7.06016191e+01] [-2.63311021e-01 9.64576892e-01 -1.60849484e-02 -8.93505433e+00] [-7.03397605e-02 -2.56711509e-03 9.97519788e-01 -7.30933465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.967719421 meters 0.05877551155857678 Centerline is valid? [True, True] Translation: X:70.63, Y:-8.94, Z:-7.31 [[ 9.61763624e-01 2.65151933e-01 6.85943459e-02 7.06291408e+01] [-2.64676072e-01 9.64202948e-01 -1.61012786e-02 -8.94291334e+00] [-7.04081557e-02 -2.66965800e-03 9.97514694e-01 -7.31228586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.997719421 meters 0.0602714197824716 Centerline is valid? [True, True] Translation: X:70.66, Y:-8.95, Z:-7.31 [[ 9.60869703e-01 2.67840462e-01 7.06463065e-02 7.06565816e+01] [-2.67343195e-01 9.63458742e-01 -1.65791891e-02 -8.94786860e+00] [-7.25053792e-02 -2.95636878e-03 9.97363640e-01 -7.31346397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.027719421 meters 0.06122363624305811 Centerline is valid? [True, True] Translation: X:70.69, Y:-8.95, Z:-7.32 [[ 9.60449063e-01 2.69395173e-01 7.04545076e-02 7.06858083e+01] [-2.68905485e-01 9.63024811e-01 -1.65243504e-02 -8.95311536e+00] [-7.23010191e-02 -3.07480662e-03 9.97378117e-01 -7.31676568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.057719421 meters 0.06424082034187811 Centerline is valid? [True, True] Translation: X:70.71, Y:-8.96, Z:-7.32 [[ 9.59131370e-01 2.74565689e-01 6.84156286e-02 7.07138806e+01] [-2.74117344e-01 9.61562448e-01 -1.60418383e-02 -8.95856651e+00] [-7.01904377e-02 -3.36768012e-03 9.97527925e-01 -7.32278915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.087719421 meters 0.066219469165974 Centerline is valid? [True, True] Translation: X:70.74, Y:-8.97, Z:-7.33 [[ 9.58552893e-01 2.76911010e-01 6.70570235e-02 7.07416879e+01] [-2.76485865e-01 9.60889315e-01 -1.57255052e-02 -8.96558677e+00] [-6.87889429e-02 -3.46659062e-03 9.97625212e-01 -7.32865918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.117719421 meters 0.0667789705833845 Centerline is valid? [True, True] Translation: X:70.77, Y:-8.97, Z:-7.33 [[ 9.58159534e-01 2.78326063e-01 6.68199841e-02 7.07687021e+01] [-2.77907544e-01 9.60480058e-01 -1.56670208e-02 -8.97391934e+00] [-6.85398024e-02 -3.55827227e-03 9.97642037e-01 -7.33230572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14771942099999 meters 0.06790850777945305 Centerline is valid? [True, True] Translation: X:70.80, Y:-8.98, Z:-7.33 [[ 9.57242675e-01 2.80649926e-01 7.01575380e-02 7.07970244e+01] [-2.80195375e-01 9.59802194e-01 -1.64407768e-02 -8.98070755e+00] [-7.19514617e-02 -3.92000458e-03 9.97400431e-01 -7.33275509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17771942099999 meters 0.0691962387620182 Centerline is valid? [True, True] Translation: X:70.82, Y:-8.99, Z:-7.34 [[ 9.57141614e-01 2.81268821e-01 6.90491169e-02 7.08229190e+01] [-2.80830457e-01 9.59621060e-01 -1.61764226e-02 -8.99087553e+00] [-7.08109100e-02 -3.90796777e-03 9.97482101e-01 -7.33837045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.207719421 meters 0.06923870741044465 Centerline is valid? [True, True] Translation: X:70.85, Y:-9.00, Z:-7.35 [[ 9.57519070e-01 2.80611328e-01 6.64418080e-02 7.08492793e+01] [-2.80204511e-01 9.59814269e-01 -1.55563870e-02 -9.00288692e+00] [-6.81370938e-02 -3.72175706e-03 9.97669026e-01 -7.34531121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.237719421 meters 0.06833226940364787 Centerline is valid? [True, True] Translation: X:70.87, Y:-9.02, Z:-7.35 [[ 9.58587797e-01 2.77567868e-01 6.37613870e-02 7.08731007e+01] [-2.77186896e-01 9.60700125e-01 -1.49229704e-02 -9.02341087e+00] [-6.53977095e-02 -3.36884368e-03 9.97853592e-01 -7.35207112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.267719421 meters 0.067366146664721 Centerline is valid? [True, True] Translation: X:70.90, Y:-9.04, Z:-7.35 [[ 9.59013518e-01 2.75783481e-01 6.50887348e-02 7.09004485e+01] [-2.75382758e-01 9.61214048e-01 -1.52279508e-02 -9.03817002e+00] [-6.67638236e-02 -3.32050463e-03 9.97763282e-01 -7.35363027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.297719421 meters 0.06187462789407774 Centerline is valid? [True, True] Translation: X:70.93, Y:-9.07, Z:-7.35 [[ 9.60016290e-01 2.71404372e-01 6.86177118e-02 7.09258424e+01] [-2.70947992e-01 9.62460150e-01 -1.60513331e-02 -9.06666687e+00] [-7.03982151e-02 -3.18229004e-03 9.97513892e-01 -7.34883383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.327719421 meters 0.06032276585797157 Centerline is valid? [True, True] Translation: X:70.96, Y:-9.08, Z:-7.35 [[ 9.60891389e-01 2.68073906e-01 6.94558796e-02 7.09552403e+01] [-2.67597750e-01 9.63393754e-01 -1.62456014e-02 -9.08106801e+00] [-7.12683823e-02 -2.97597862e-03 9.97452736e-01 -7.35132684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.357719421 meters 0.0565260796351453 Centerline is valid? [True, True] Translation: X:70.98, Y:-9.10, Z:-7.36 [[ 9.63114372e-01 2.60481284e-01 6.75293021e-02 7.09805856e+01] [-2.60012097e-01 9.65476062e-01 -1.58013880e-02 -9.10490630e+00] [-6.93138904e-02 -2.33989153e-03 9.97592156e-01 -7.35562491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.387719421 meters 0.05576815908259847 Centerline is valid? [True, True] Translation: X:71.01, Y:-9.12, Z:-7.36 [[ 9.64136108e-01 2.57014813e-01 6.62189639e-02 7.10089648e+01] [-2.56556167e-01 9.66405270e-01 -1.54850613e-02 -9.11893734e+00] [-6.79742458e-02 -2.05917685e-03 9.97684951e-01 -7.36157458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.417719421 meters 0.05460231145977407 Centerline is valid? [True, True] Translation: X:71.04, Y:-9.13, Z:-7.37 [[ 9.65181653e-01 2.53199306e-01 6.56847707e-02 7.10385797e+01] [-2.52737523e-01 9.67412551e-01 -1.53850982e-02 -9.13468502e+00] [-6.74397678e-02 -1.75159171e-03 9.97721810e-01 -7.36565197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.447719421 meters 0.052469830311295367 Centerline is valid? [True, True] Translation: X:71.07, Y:-9.16, Z:-7.37 [[ 9.66701000e-01 2.47160011e-01 6.63408329e-02 7.10651596e+01] [-2.46674071e-01 9.68973761e-01 -1.55484147e-02 -9.15944886e+00] [-6.81254727e-02 -1.33389532e-03 9.97675870e-01 -7.36514874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.477719421 meters 0.05235512945777142 Centerline is valid? [True, True] Translation: X:71.09, Y:-9.17, Z:-7.37 [[ 9.66998421e-01 2.45522068e-01 6.80659121e-02 7.10943000e+01] [-2.45006771e-01 9.69390189e-01 -1.59481277e-02 -9.17078856e+00] [-6.98980447e-02 -1.25479507e-03 9.97553351e-01 -7.36817858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.507719421 meters 0.050967513696293106 Centerline is valid? [True, True] Translation: X:71.12, Y:-9.18, Z:-7.36 [[ 9.67097003e-01 2.44100217e-01 7.16831315e-02 7.11241088e+01] [-2.43522535e-01 9.69749287e-01 -1.68254107e-02 -9.18312257e+00] [-7.36217521e-02 -1.18465360e-03 9.97285533e-01 -7.36481486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53771942099999 meters 0.05174982324010147 Centerline is valid? [True, True] Translation: X:71.16, Y:-9.19, Z:-7.37 [[ 9.66510610e-01 2.46792297e-01 7.03619425e-02 7.11559911e+01] [-2.46243198e-01 9.69067433e-01 -1.65105446e-02 -9.18619446e+00] [-7.22601422e-02 -1.36853320e-03 9.97384880e-01 -7.37077076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56771942099999 meters 0.05244364592219119 Centerline is valid? [True, True] Translation: X:71.19, Y:-9.19, Z:-7.38 [[ 9.65966450e-01 2.49121052e-01 6.96241269e-02 7.11878009e+01] [-2.48587907e-01 9.68471184e-01 -1.63590241e-02 -9.19167437e+00] [-7.15043379e-02 -1.50544756e-03 9.97439153e-01 -7.37541153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.597719421 meters 0.05325019333787048 Centerline is valid? [True, True] Translation: X:71.22, Y:-9.20, Z:-7.38 [[ 9.65439641e-01 2.51862932e-01 6.70176354e-02 7.12179515e+01] [-2.51373615e-01 9.67761567e-01 -1.57751465e-02 -9.20011828e+00] [-6.88302665e-02 -1.61651346e-03 9.97627075e-01 -7.37919677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.627719421 meters 0.054068404228996524 Centerline is valid? [True, True] Translation: X:71.25, Y:-9.21, Z:-7.38 [[ 9.65159340e-01 2.53253271e-01 6.58044785e-02 7.12477371e+01] [-2.52785119e-01 9.67398535e-01 -1.54841191e-02 -9.20728199e+00] [-6.75805599e-02 -1.68975078e-03 9.97712390e-01 -7.38457559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.657719421 meters 0.054605959643406 Centerline is valid? [True, True] Translation: X:71.28, Y:-9.21, Z:-7.39 [[ 9.64641357e-01 2.54969555e-01 6.67650990e-02 7.12794316e+01] [-2.54490432e-01 9.66947372e-01 -1.57289607e-02 -9.21313038e+00] [-6.85687432e-02 -1.81827292e-03 9.97644737e-01 -7.38812251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.687719421 meters 0.05477033665688282 Centerline is valid? [True, True] Translation: X:71.31, Y:-9.22, Z:-7.39 [[ 9.64151325e-01 2.56563922e-01 6.77287049e-02 7.13119075e+01] [-2.56073230e-01 9.66525322e-01 -1.59782067e-02 -9.22039298e+00] [-6.95609396e-02 -1.93809911e-03 9.97575821e-01 -7.38943203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.717719421 meters 0.05730089817616947 Centerline is valid? [True, True] Translation: X:71.34, Y:-9.22, Z:-7.39 [[ 9.62473611e-01 2.62924688e-01 6.71949118e-02 7.13427317e+01] [-2.62454858e-01 9.64813507e-01 -1.58853590e-02 -9.22318463e+00] [-6.90072116e-02 -2.34639221e-03 9.97613402e-01 -7.39258831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.747719421 meters 0.05952161656219729 Centerline is valid? [True, True] Translation: X:71.37, Y:-9.23, Z:-7.40 [[ 9.61234207e-01 2.67483036e-01 6.69449415e-02 7.13731924e+01] [-2.67027433e-01 9.63558899e-01 -1.58302781e-02 -9.22703406e+00] [-6.87397251e-02 -2.65953101e-03 9.97631083e-01 -7.39568267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.777719421 meters 0.0643422859644627 Centerline is valid? [True, True] Translation: X:71.40, Y:-9.23, Z:-7.40 [[ 9.58508039e-01 2.76756571e-01 6.83237791e-02 7.14033417e+01] [-2.76305227e-01 9.60934082e-01 -1.61589430e-02 -9.22627644e+00] [-7.01267416e-02 -3.38974052e-03 9.97532330e-01 -7.39836896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.807719421 meters 0.0663478283530025 Centerline is valid? [True, True] Translation: X:71.43, Y:-9.23, Z:-7.40 [[ 9.57529882e-01 2.80103280e-01 6.84008650e-02 7.14342555e+01] [-2.79659602e-01 9.59962964e-01 -1.61744894e-02 -9.23027964e+00] [-7.01928247e-02 -3.64140175e-03 9.97526795e-01 -7.40159156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.837719421 meters 0.06561956862297727 Centerline is valid? [True, True] Translation: X:71.47, Y:-9.24, Z:-7.40 [[ 9.56355994e-01 2.83663284e-01 7.01309741e-02 7.14650531e+01] [-2.83206382e-01 9.58915600e-01 -1.65836405e-02 -9.23949569e+00] [-7.19538550e-02 -4.00167548e-03 9.97399935e-01 -7.40121658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.867719421 meters 0.06538131445904519 Centerline is valid? [True, True] Translation: X:71.50, Y:-9.25, Z:-7.40 [[ 9.56178937e-01 2.83767757e-01 7.20950806e-02 7.14956625e+01] [-2.83284728e-01 9.58884203e-01 -1.70542774e-02 -9.24886606e+00] [-7.39702879e-02 -4.11649445e-03 9.97251950e-01 -7.40211192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89771942099999 meters 0.06355380341755289 Centerline is valid? [True, True] Translation: X:71.52, Y:-9.26, Z:-7.40 [[ 9.57352800e-01 2.79799795e-01 7.20256285e-02 7.15224910e+01] [-2.79304211e-01 9.60050944e-01 -1.70687764e-02 -9.26465763e+00] [-7.39241128e-02 -3.77622044e-03 9.97256720e-01 -7.40391696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92771942099999 meters 0.062279946031382226 Centerline is valid? [True, True] Translation: X:71.55, Y:-9.28, Z:-7.41 [[ 9.58036526e-01 2.77751474e-01 7.08529044e-02 7.15532442e+01] [-2.77266556e-01 9.60646361e-01 -1.67876711e-02 -9.27541622e+00] [-7.27273852e-02 -3.56193863e-03 9.97345497e-01 -7.40882713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.957719421 meters 0.06153312375345789 Centerline is valid? [True, True] Translation: X:71.58, Y:-9.29, Z:-7.42 [[ 9.58711908e-01 2.76004339e-01 6.85060776e-02 7.15834348e+01] [-2.75546517e-01 9.61150675e-01 -1.62325728e-02 -9.28608810e+00] [-7.03249232e-02 -3.31425026e-03 9.97518632e-01 -7.41619351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.987719421 meters 0.06190164519360782 Centerline is valid? [True, True] Translation: X:71.61, Y:-9.29, Z:-7.42 [[ 9.59050867e-01 2.74939959e-01 6.80400826e-02 7.16127892e+01] [-2.74484144e-01 9.61456096e-01 -1.61440683e-02 -9.29496418e+00] [-6.98562017e-02 -3.19294106e-03 9.97551962e-01 -7.42078694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.017719421 meters 0.06103569284464062 Centerline is valid? [True, True] Translation: X:71.64, Y:-9.31, Z:-7.42 [[ 9.59459463e-01 2.73536775e-01 6.79350561e-02 7.16424192e+01] [-2.73077531e-01 9.61856654e-01 -1.61381492e-02 -9.31077076e+00] [-6.97581630e-02 -3.06763748e-03 9.97559215e-01 -7.42229748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.047719421 meters 0.06085867022349776 Centerline is valid? [True, True] Translation: X:71.67, Y:-9.32, Z:-7.43 [[ 9.59707141e-01 2.72813747e-01 6.73413853e-02 7.16728463e+01] [-2.72359320e-01 9.62062287e-01 -1.60173934e-02 -9.32205363e+00] [-6.91563722e-02 -2.96904704e-03 9.97601414e-01 -7.42565794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.077719421 meters 0.057621611738425164 Centerline is valid? [True, True] Translation: X:71.70, Y:-9.34, Z:-7.43 [[ 9.61147096e-01 2.67733343e-01 6.71946211e-02 7.17002498e+01] [-2.67266472e-01 9.63489624e-01 -1.60117668e-02 -9.34167823e+00] [-6.90282041e-02 -2.56920615e-03 9.97611400e-01 -7.42696722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.107719421 meters 0.05671441869772154 Centerline is valid? [True, True] Translation: X:71.73, Y:-9.35, Z:-7.43 [[ 9.62214138e-01 2.63854534e-01 6.72661635e-02 7.17281501e+01] [-2.63377074e-01 9.64559762e-01 -1.60306907e-02 -9.35294388e+00] [-6.91120051e-02 -2.29140807e-03 9.97606275e-01 -7.43264526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.137719421 meters 0.053656237299312085 Centerline is valid? [True, True] Translation: X:71.75, Y:-9.38, Z:-7.44 [[ 9.65259137e-01 2.53023899e-01 6.52204377e-02 7.17537769e+01] [-2.52550216e-01 9.67458916e-01 -1.55445617e-02 -9.37521803e+00] [-6.70312396e-02 -1.46690547e-03 9.97749799e-01 -7.43936592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.167719421 meters 0.0516375750432015 Centerline is valid? [True, True] Translation: X:71.78, Y:-9.41, Z:-7.44 [[ 9.68488622e-01 2.40600535e-01 6.43519316e-02 7.17793388e+01] [-2.40112004e-01 9.70624039e-01 -1.53362819e-02 -9.40613381e+00] [-6.61514493e-02 -5.98656716e-04 9.97809414e-01 -7.43941607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.197719421 meters 0.05143561365695337 Centerline is valid? [True, True] Translation: X:71.81, Y:-9.42, Z:-7.44 [[ 9.70005850e-01 2.34637855e-01 6.35116378e-02 7.18087791e+01] [-2.34149457e-01 9.72082836e-01 -1.51324905e-02 -9.42435132e+00] [-6.52892281e-02 -1.92611157e-04 9.97866364e-01 -7.44236779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.227719421 meters 0.051801992362633296 Centerline is valid? [True, True] Translation: X:71.84, Y:-9.44, Z:-7.45 [[ 9.71150226e-01 2.30183134e-01 6.23134247e-02 7.18372494e+01] [-2.29701963e-01 9.73147320e-01 -1.48762021e-02 -9.43918159e+00] [-6.40643931e-02 1.33511049e-04 9.97945758e-01 -7.44655053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.257719421 meters 0.05247389036195675 Centerline is valid? [True, True] Translation: X:71.87, Y:-9.45, Z:-7.45 [[ 9.72625621e-01 2.23949643e-01 6.20157898e-02 7.18655897e+01] [-2.23459999e-01 9.74600563e-01 -1.48111859e-02 -9.45342446e+00] [-6.37575835e-02 5.47690601e-04 9.97965265e-01 -7.45023196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28771942099999 meters 0.05253262605460402 Centerline is valid? [True, True] Translation: X:71.90, Y:-9.46, Z:-7.45 [[ 9.72637892e-01 2.23708036e-01 6.26916674e-02 7.18962019e+01] [-2.23205951e-01 9.74656026e-01 -1.49911441e-02 -9.45993541e+00] [-6.44564508e-02 5.87801519e-04 9.97920348e-01 -7.45369695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31771942099999 meters 0.051741007311193264 Centerline is valid? [True, True] Translation: X:71.93, Y:-9.46, Z:-7.45 [[ 9.71867783e-01 2.25939578e-01 6.65155574e-02 7.19271607e+01] [-2.25377529e-01 9.74141192e-01 -1.59344655e-02 -9.46310658e+00] [-6.83957708e-02 4.95081629e-04 9.97658145e-01 -7.45341607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.347719421 meters 0.05165869816218313 Centerline is valid? [True, True] Translation: X:71.96, Y:-9.47, Z:-7.45 [[ 9.71465377e-01 2.27333982e-01 6.76334379e-02 7.19577038e+01] [-2.26756548e-01 9.73816770e-01 -1.61977365e-02 -9.47050927e+00] [-6.95448720e-02 3.99215269e-04 9.97578744e-01 -7.45455089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.377719421 meters 0.05092424302638321 Centerline is valid? [True, True] Translation: X:71.99, Y:-9.48, Z:-7.45 [[ 9.70755817e-01 2.30359980e-01 6.75827079e-02 7.19903096e+01] [-2.29789489e-01 9.73105462e-01 -1.62034283e-02 -9.47525246e+00] [-6.94977236e-02 1.99776380e-04 9.97582090e-01 -7.45301719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.407719421 meters 0.05074975717442712 Centerline is valid? [True, True] Translation: X:72.02, Y:-9.48, Z:-7.46 [[ 9.70272001e-01 2.32193621e-01 6.82522270e-02 7.20221363e+01] [-2.31614724e-01 9.72669581e-01 -1.63861351e-02 -9.47970369e+00] [-7.01916211e-02 9.07874302e-05 9.97533522e-01 -7.45717251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.437719421 meters 0.05063758226253613 Centerline is valid? [True, True] Translation: X:72.06, Y:-9.48, Z:-7.46 [[ 9.68832685e-01 2.38127119e-01 6.82546935e-02 7.20559229e+01] [-2.37561442e-01 9.71233944e-01 -1.64069459e-02 -9.47879343e+00] [-7.01982139e-02 -3.19097959e-04 9.97533011e-01 -7.46171822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.467719421 meters 0.05157512127125085 Centerline is valid? [True, True] Translation: X:72.09, Y:-9.48, Z:-7.47 [[ 9.66509852e-01 2.47210078e-01 6.88903716e-02 7.20887641e+01] [-2.46654574e-01 9.68961435e-01 -1.65909383e-02 -9.47516076e+00] [-7.08535605e-02 -9.56819970e-04 9.97486269e-01 -7.46628790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.497719421 meters 0.0525671240419451 Centerline is valid? [True, True] Translation: X:72.12, Y:-9.48, Z:-7.47 [[ 9.64994566e-01 2.52966618e-01 6.92342306e-02 7.21212901e+01] [-2.52419803e-01 9.67474025e-01 -1.66809640e-02 -9.47627826e+00] [-7.12020468e-02 -1.37905128e-03 9.97460960e-01 -7.46895302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.527719421 meters 0.0525671240419451 Centerline is valid? [True, True] Translation: X:72.15, Y:-9.48, Z:-7.47 [[ 9.64911422e-01 2.53284812e-01 6.92297016e-02 7.21526324e+01] [-2.52737469e-01 9.67390764e-01 -1.66997346e-02 -9.48410202e+00] [-7.12019631e-02 -1.38317488e-03 9.97460960e-01 -7.47228421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.557719421 meters 0.0540282675827947 Centerline is valid? [True, True] Translation: X:72.19, Y:-9.48, Z:-7.48 [[ 9.63459162e-01 2.58770956e-01 6.91667202e-02 7.21855352e+01] [-2.58236416e-01 9.65937115e-01 -1.67165606e-02 -9.48401660e+00] [-7.11364625e-02 -1.75564241e-03 9.97465048e-01 -7.47544935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.587719421 meters 0.05911569412697517 Centerline is valid? [True, True] Translation: X:72.22, Y:-9.47, Z:-7.48 [[ 9.59846631e-01 2.71688875e-01 6.98541333e-02 7.22194706e+01] [-2.71177041e-01 9.62381267e-01 -1.68911172e-02 -9.47098742e+00] [-7.18154379e-02 -2.72995527e-03 9.97414202e-01 -7.47937830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.617719421 meters 0.06281853331005123 Centerline is valid? [True, True] Translation: X:72.25, Y:-9.47, Z:-7.48 [[ 9.57970372e-01 2.78329339e-01 6.94661397e-02 7.22514972e+01] [-2.77840498e-01 9.60480340e-01 -1.67980193e-02 -9.46724199e+00] [-7.13962431e-02 -3.20850199e-03 9.97442872e-01 -7.48474968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64771942099999 meters 0.0693439514882126 Centerline is valid? [True, True] Translation: X:72.28, Y:-9.46, Z:-7.49 [[ 9.55170206e-01 2.88443291e-01 6.67109064e-02 7.22835901e+01] [-2.88016939e-01 9.57489421e-01 -1.61323077e-02 -9.46142156e+00] [-6.85282430e-02 -3.80477142e-03 9.97641922e-01 -7.49188428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67771942099999 meters 0.07096571314963883 Centerline is valid? [True, True] Translation: X:72.31, Y:-9.47, Z:-7.50 [[ 9.54485557e-01 2.90794204e-01 6.63027298e-02 7.23135974e+01] [-2.90378701e-01 9.56777474e-01 -1.60335436e-02 -9.46692134e+00] [-6.80994199e-02 -3.94911481e-03 9.97670724e-01 -7.49505842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.707719421 meters 0.07062880954259136 Centerline is valid? [True, True] Translation: X:72.34, Y:-9.48, Z:-7.50 [[ 9.54899991e-01 2.89153068e-01 6.75019331e-02 7.23434832e+01] [-2.88718255e-01 9.57274927e-01 -1.63243164e-02 -9.47530521e+00] [-6.93381342e-02 -3.90095070e-03 9.97585588e-01 -7.49662772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.737719421 meters 0.0681173260834829 Centerline is valid? [True, True] Translation: X:72.37, Y:-9.49, Z:-7.50 [[ 9.55869666e-01 2.85807852e-01 6.80224425e-02 7.23722288e+01] [-2.85357572e-01 9.58279871e-01 -1.64543349e-02 -9.48580858e+00] [-6.98873155e-02 -3.68251942e-03 9.97548095e-01 -7.49958793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.767719421 meters 0.06433974055248551 Centerline is valid? [True, True] Translation: X:72.40, Y:-9.50, Z:-7.51 [[ 9.58317239e-01 2.77616965e-01 6.75047380e-02 7.23992023e+01] [-2.77153240e-01 9.60686968e-01 -1.63288237e-02 -9.49997836e+00] [-6.93840805e-02 -3.06096355e-03 9.97585325e-01 -7.50553323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.797719421 meters 0.062037279144977864 Centerline is valid? [True, True] Translation: X:72.43, Y:-9.51, Z:-7.51 [[ 9.59652228e-01 2.73267888e-01 6.62741517e-02 7.24275753e+01] [-2.72810606e-01 9.61934193e-01 -1.60306679e-02 -9.51469670e+00] [-6.81320394e-02 -2.69642536e-03 9.97672669e-01 -7.51006818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.827719421 meters 0.056132288422742115 Centerline is valid? [True, True] Translation: X:72.45, Y:-9.54, Z:-7.51 [[ 9.62656681e-01 2.62916116e-01 6.45540855e-02 7.24521780e+01] [-2.62458759e-01 9.64816809e-01 -1.56180743e-02 -9.54270357e+00] [-6.63891103e-02 -1.90794163e-03 9.97791985e-01 -7.51060740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.857719421 meters 0.056345283655727406 Centerline is valid? [True, True] Translation: X:72.48, Y:-9.55, Z:-7.52 [[ 9.63761709e-01 2.58621999e-01 6.54066537e-02 7.24806101e+01] [-2.58142599e-01 9.65977222e-01 -1.58241963e-02 -9.55330191e+00] [-6.72738229e-02 -1.63348916e-03 9.97733213e-01 -7.51824812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.887719421 meters 0.05251843012871552 Centerline is valid? [True, True] Translation: X:72.51, Y:-9.57, Z:-7.51 [[ 9.64997550e-01 2.52807831e-01 6.97705424e-02 7.25084730e+01] [-2.52246780e-01 9.67515630e-01 -1.68839602e-02 -9.57381809e+00] [-7.17724876e-02 -1.30641444e-03 9.97420174e-01 -7.51048698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.917719421 meters 0.05206593726241701 Centerline is valid? [True, True] Translation: X:72.54, Y:-9.58, Z:-7.51 [[ 9.65461243e-01 2.50683558e-01 7.10094488e-02 7.25379456e+01] [-2.50097076e-01 9.68068372e-01 -1.71778595e-02 -9.58333611e+00] [-7.30482085e-02 -1.17469792e-03 9.97327719e-01 -7.51429164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.947719421 meters 0.05157369669908659 Centerline is valid? [True, True] Translation: X:72.57, Y:-9.59, Z:-7.52 [[ 9.66430715e-01 2.47115535e-01 7.03248605e-02 7.25669777e+01] [-2.46529433e-01 9.68985626e-01 -1.70321829e-02 -9.59376240e+00] [-7.23526960e-02 -8.76723268e-04 9.97378724e-01 -7.51837930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.977719421 meters 0.050868217186320966 Centerline is valid? [True, True] Translation: X:72.60, Y:-9.60, Z:-7.52 [[ 9.66724543e-01 2.45732556e-01 7.11278343e-02 7.25976611e+01] [-2.45127884e-01 9.69337365e-01 -1.72451032e-02 -9.60431257e+00] [-7.31845507e-02 -7.64150956e-04 9.97318123e-01 -7.51668192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.007719421 meters 0.050613575255580474 Centerline is valid? [True, True] Translation: X:72.63, Y:-9.61, Z:-7.52 [[ 9.66958966e-01 2.44387676e-01 7.25604680e-02 7.26277612e+01] [-2.43752523e-01 9.69677391e-01 -1.76200083e-02 -9.61352138e+00] [-7.46663582e-02 -6.48972115e-04 9.97208360e-01 -7.51797610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03771942099999 meters 0.05063979493753439 Centerline is valid? [True, True] Translation: X:72.66, Y:-9.62, Z:-7.52 [[ 9.66899163e-01 2.44754297e-01 7.21203377e-02 7.26592178e+01] [-2.44127209e-01 9.69584907e-01 -1.75218065e-02 -9.62088438e+00] [-7.42153284e-02 -6.64716691e-04 9.97242018e-01 -7.52099313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06771942099999 meters 0.051195673268354835 Centerline is valid? [True, True] Translation: X:72.69, Y:-9.63, Z:-7.53 [[ 9.66918838e-01 2.45463432e-01 6.93949817e-02 7.26892524e+01] [-2.44883006e-01 9.69405620e-01 -1.68836305e-02 -9.62643765e+00] [-7.14161992e-02 -6.68551259e-04 9.97446379e-01 -7.52758496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.097719421 meters 0.0516523200040284 Centerline is valid? [True, True] Translation: X:72.72, Y:-9.63, Z:-7.53 [[ 9.66818355e-01 2.46383966e-01 6.75071047e-02 7.27189444e+01] [-2.45835328e-01 9.69172049e-01 -1.64478311e-02 -9.63229500e+00] [-6.94784808e-02 -6.93566162e-04 9.97583209e-01 -7.53400618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.127719421 meters 0.051628399422484435 Centerline is valid? [True, True] Translation: X:72.75, Y:-9.64, Z:-7.54 [[ 9.66699006e-01 2.47261595e-01 6.59904147e-02 7.27502946e+01] [-2.46739102e-01 9.68948483e-01 -1.60826854e-02 -9.63928439e+00] [-6.79179427e-02 -7.35299669e-04 9.97690640e-01 -7.53673206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.157719421 meters 0.051943086398631856 Centerline is valid? [True, True] Translation: X:72.78, Y:-9.64, Z:-7.54 [[ 9.65804296e-01 2.50525524e-01 6.67759169e-02 7.27831243e+01] [-2.49996849e-01 9.68109523e-01 -1.62950025e-02 -9.63871441e+00] [-6.87287150e-02 -9.55985370e-04 9.97634928e-01 -7.54247652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.187719421 meters 0.05216254936349133 Centerline is valid? [True, True] Translation: X:72.82, Y:-9.64, Z:-7.55 [[ 9.64981061e-01 2.53419324e-01 6.77510012e-02 7.28161580e+01] [-2.52880608e-01 9.67355833e-01 -1.65556783e-02 -9.64191540e+00] [-6.97348550e-02 -1.15699836e-03 9.97564891e-01 -7.54502164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.217719421 meters 0.053937115268591566 Centerline is valid? [True, True] Translation: X:72.85, Y:-9.64, Z:-7.55 [[ 9.63144734e-01 2.60658194e-01 6.64042655e-02 7.28477222e+01] [-2.60155516e-01 9.65429801e-01 -1.62605967e-02 -9.64075018e+00] [-6.83471145e-02 -1.61412790e-03 9.97660296e-01 -7.54849348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.247719421 meters 0.05642375804158883 Centerline is valid? [True, True] Translation: X:72.88, Y:-9.64, Z:-7.55 [[ 9.60785802e-01 2.69535397e-01 6.51253648e-02 7.28803962e+01] [-2.69072093e-01 9.62987971e-01 -1.59492050e-02 -9.63751004e+00] [-6.70138182e-02 -2.19964850e-03 9.97749623e-01 -7.55185922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.277719421 meters 0.05927027976536196 Centerline is valid? [True, True] Translation: X:72.91, Y:-9.63, Z:-7.56 [[ 9.59247237e-01 2.74736850e-01 6.60636230e-02 7.29121625e+01] [-2.74272348e-01 9.61515942e-01 -1.61793952e-02 -9.63449815e+00] [-6.79663028e-02 -2.59938486e-03 9.97684231e-01 -7.55604541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.307719421 meters 0.061637815379654994 Centerline is valid? [True, True] Translation: X:72.94, Y:-9.63, Z:-7.56 [[ 9.57612196e-01 2.80107626e-01 6.72205304e-02 7.29445976e+01] [-2.79639811e-01 9.59963815e-01 -1.64635961e-02 -9.63392781e+00] [-6.91408556e-02 -3.03179601e-03 9.97602301e-01 -7.55900439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.337719421 meters 0.06530898552173313 Centerline is valid? [True, True] Translation: X:72.98, Y:-9.63, Z:-7.56 [[ 9.55207566e-01 2.87922323e-01 6.84049891e-02 7.29777127e+01] [-2.87457486e-01 9.57646786e-01 -1.67578689e-02 -9.62927532e+00] [-7.03327825e-02 -3.65628306e-03 9.97516883e-01 -7.56056943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.367719421 meters 0.06621557957421034 Centerline is valid? [True, True] Translation: X:73.01, Y:-9.63, Z:-7.56 [[ 9.54362111e-01 2.90499699e-01 6.93028555e-02 7.30096716e+01] [-2.90029473e-01 9.56867140e-01 -1.69758656e-02 -9.63352033e+00] [-7.12451090e-02 -3.89874774e-03 9.97451219e-01 -7.56267804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39771942099999 meters 0.06618884641561183 Centerline is valid? [True, True] Translation: X:73.04, Y:-9.64, Z:-7.56 [[ 9.53663001e-01 2.92710838e-01 6.96221641e-02 7.30402884e+01] [-2.92242121e-01 9.56192291e-01 -1.70541699e-02 -9.64142149e+00] [-7.15641169e-02 -4.08259802e-03 9.97427646e-01 -7.56430725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42771942099999 meters 0.0686683413372721 Centerline is valid? [True, True] Translation: X:73.07, Y:-9.64, Z:-7.57 [[ 9.53441729e-01 2.93313822e-01 7.01132767e-02 7.30717850e+01] [-2.92838699e-01 9.56007256e-01 -1.71937074e-02 -9.64450397e+00] [-7.20719533e-02 -4.13868257e-03 9.97390849e-01 -7.56946327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.457719421 meters 0.06829888521272288 Centerline is valid? [True, True] Translation: X:73.10, Y:-9.65, Z:-7.57 [[ 9.53574461e-01 2.92702248e-01 7.08600093e-02 7.31029904e+01] [-2.92213060e-01 9.56194815e-01 -1.74070130e-02 -9.65366096e+00] [-7.28510453e-02 -4.10733706e-03 9.97334375e-01 -7.57164481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.487719421 meters 0.06688052059513033 Centerline is valid? [True, True] Translation: X:73.13, Y:-9.67, Z:-7.57 [[ 9.53991843e-01 2.91415858e-01 7.05433357e-02 7.31327278e+01] [-2.90927398e-01 9.56588147e-01 -1.73310627e-02 -9.66626098e+00] [-7.25314653e-02 -3.98929671e-03 9.97358146e-01 -7.57399981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.517719421 meters 0.06409489826331521 Centerline is valid? [True, True] Translation: X:73.16, Y:-9.68, Z:-7.58 [[ 9.56185390e-01 2.84833212e-01 6.76723076e-02 7.31587117e+01] [-2.84365272e-01 9.58571346e-01 -1.66543178e-02 -9.68312730e+00] [-6.96124378e-02 -3.31903881e-03 9.97568590e-01 -7.57968357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.547719421 meters 0.06284537521780585 Centerline is valid? [True, True] Translation: X:73.19, Y:-9.70, Z:-7.59 [[ 9.56966483e-01 2.82485189e-01 6.64625405e-02 7.31887338e+01] [-2.82028863e-01 9.59266648e-01 -1.63468155e-02 -9.69518042e+00] [-6.83730317e-02 -3.10100021e-03 9.97655007e-01 -7.58541944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.577719421 meters 0.057702138146122975 Centerline is valid? [True, True] Translation: X:73.22, Y:-9.71, Z:-7.59 [[ 9.58902390e-01 2.76069660e-01 6.55114356e-02 7.32156103e+01] [-2.75609440e-01 9.61134173e-01 -1.61412097e-02 -9.71489753e+00] [-6.74213777e-02 -2.57772551e-03 9.97721260e-01 -7.58760434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.607719421 meters 0.05708066144829045 Centerline is valid? [True, True] Translation: X:73.24, Y:-9.73, Z:-7.59 [[ 9.59770798e-01 2.72960998e-01 6.58202778e-02 7.32440946e+01] [-2.72489025e-01 9.62022184e-01 -1.62188088e-02 -9.72624626e+00] [-6.77476696e-02 -2.36896422e-03 9.97699675e-01 -7.59072476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.637719421 meters 0.05604579483343922 Centerline is valid? [True, True] Translation: X:73.27, Y:-9.74, Z:-7.59 [[ 9.61676142e-01 2.65901102e-01 6.68999363e-02 7.32704037e+01] [-2.65396266e-01 9.63998442e-01 -1.64871728e-02 -9.74314874e+00] [-6.88753917e-02 -1.89967252e-03 9.97623462e-01 -7.59401523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.667719421 meters 0.05487740224901429 Centerline is valid? [True, True] Translation: X:73.30, Y:-9.76, Z:-7.60 [[ 9.62662540e-01 2.62570447e-01 6.58604134e-02 7.32994307e+01] [-2.62074061e-01 9.64911424e-01 -1.62213088e-02 -9.75729233e+00] [-6.78087015e-02 -1.64465963e-03 9.97696986e-01 -7.59781256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.697719421 meters 0.052689520179260145 Centerline is valid? [True, True] Translation: X:73.33, Y:-9.77, Z:-7.60 [[ 9.63898983e-01 2.58312944e-01 6.46000991e-02 7.33283576e+01] [-2.57824686e-01 9.66060416e-01 -1.59281040e-02 -9.77469040e+00] [-6.65220340e-02 -1.30241699e-03 9.97784106e-01 -7.59904999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.727719421 meters 0.052426193876435705 Centerline is valid? [True, True] Translation: X:73.36, Y:-9.78, Z:-7.60 [[ 9.64044922e-01 2.57427590e-01 6.59425820e-02 7.33580873e+01] [-2.56915227e-01 9.66296789e-01 -1.62813379e-02 -9.78175192e+00] [-6.79113709e-02 -1.24571233e-03 9.97690580e-01 -7.60268730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.757719421 meters 0.052154037785890235 Centerline is valid? [True, True] Translation: X:73.39, Y:-9.79, Z:-7.60 [[ 9.63932554e-01 2.57354932e-01 6.78415076e-02 7.33895139e+01] [-2.56811020e-01 9.66316128e-01 -1.67702399e-02 -9.78763217e+00] [-6.98722468e-02 -1.25706662e-03 9.97555156e-01 -7.60471642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78771942099999 meters 0.05226106685845284 Centerline is valid? [True, True] Translation: X:73.42, Y:-9.79, Z:-7.60 [[ 9.62829540e-01 2.60961907e-01 6.97004995e-02 7.34233121e+01] [-2.60395692e-01 9.65347870e-01 -1.72503343e-02 -9.79037301e+00] [-7.17869088e-02 -1.54057835e-03 9.97418802e-01 -7.60346237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81771942099999 meters 0.05301665792287989 Centerline is valid? [True, True] Translation: X:73.45, Y:-9.80, Z:-7.61 [[ 9.62311389e-01 2.63245801e-01 6.82527567e-02 7.34535499e+01] [-2.62706446e-01 9.64727392e-01 -1.69228309e-02 -9.79618048e+00] [-7.03001681e-02 -1.64540626e-03 9.97524526e-01 -7.60640578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.847719421 meters 0.05364103470576143 Centerline is valid? [True, True] Translation: X:73.48, Y:-9.80, Z:-7.61 [[ 9.61573185e-01 2.66247774e-01 6.70009943e-02 7.34843498e+01] [-2.65734618e-01 9.63902904e-01 -1.66224434e-02 -9.80399903e+00] [-6.90081415e-02 -1.82078777e-03 9.97614435e-01 -7.60842679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.877719421 meters 0.05357038102485369 Centerline is valid? [True, True] Translation: X:73.52, Y:-9.81, Z:-7.61 [[ 9.61345164e-01 2.67046804e-01 6.70930727e-02 7.35160339e+01] [-2.66533935e-01 9.63681732e-01 -1.66487629e-02 -9.81104854e+00] [-6.91023674e-02 -1.87737294e-03 9.97607808e-01 -7.61129841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.907719421 meters 0.053183744655009024 Centerline is valid? [True, True] Translation: X:73.55, Y:-9.82, Z:-7.62 [[ 9.61892521e-01 2.65071308e-01 6.70818877e-02 7.35466280e+01] [-2.64551956e-01 9.64227297e-01 -1.66727996e-02 -9.81509677e+00] [-6.91016681e-02 -1.70920335e-03 9.97608159e-01 -7.61839018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.937719421 meters 0.053549863068554825 Centerline is valid? [True, True] Translation: X:73.58, Y:-9.82, Z:-7.63 [[ 9.62724436e-01 2.62410242e-01 6.55936311e-02 7.35763861e+01] [-2.61906289e-01 9.64955291e-01 -1.63212022e-02 -9.82334530e+00] [-6.75777720e-02 -1.46656435e-03 9.97712932e-01 -7.62725638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.967719421 meters 0.05111055488212488 Centerline is valid? [True, True] Translation: X:73.60, Y:-9.85, Z:-7.62 [[ 9.64731027e-01 2.54472197e-01 6.73642779e-02 7.36032905e+01] [-2.53919134e-01 9.67079667e-01 -1.67925836e-02 -9.84592764e+00] [-6.94198691e-02 -9.04752670e-04 9.97587121e-01 -7.62467133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.997719421 meters 0.04963057104789862 Centerline is valid? [True, True] Translation: X:73.63, Y:-9.86, Z:-7.62 [[ 9.66120341e-01 2.48163233e-01 7.08977954e-02 7.36325503e+01] [-2.47533541e-01 9.68718114e-01 -1.76737545e-02 -9.86318207e+00] [-7.30659547e-02 -4.74608565e-04 9.97326998e-01 -7.62101325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.027719421 meters 0.04932416692571854 Centerline is valid? [True, True] Translation: X:73.66, Y:-9.88, Z:-7.62 [[ 9.68808528e-01 2.36226238e-01 7.48812366e-02 7.36590616e+01] [-2.35487472e-01 9.71697975e-01 -1.86733820e-02 -9.88357363e+00] [-7.71730888e-02 4.57338628e-04 9.97017605e-01 -7.61982424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.057719421 meters 0.0499613892099282 Centerline is valid? [True, True] Translation: X:73.69, Y:-9.89, Z:-7.62 [[ 9.69885159e-01 2.31957617e-01 7.42862240e-02 7.36886427e+01] [-2.31218432e-01 9.72725576e-01 -1.85199946e-02 -9.89411059e+00] [-7.65559639e-02 7.85923693e-04 9.97064976e-01 -7.62462718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.087719421 meters 0.05079447140892966 Centerline is valid? [True, True] Translation: X:73.72, Y:-9.90, Z:-7.63 [[ 9.70600092e-01 2.28655500e-01 7.51806036e-02 7.37187227e+01] [-2.27886764e-01 9.73506802e-01 -1.87650833e-02 -9.90202842e+00] [-7.74795685e-02 1.08072715e-03 9.96993354e-01 -7.62818750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.117719421 meters 0.050798320327956004 Centerline is valid? [True, True] Translation: X:73.75, Y:-9.91, Z:-7.63 [[ 9.70441339e-01 2.28604264e-01 7.73543659e-02 7.37500571e+01] [-2.27788386e-01 9.73518770e-01 -1.93301999e-02 -9.90974185e+00] [-7.97248932e-02 1.13839894e-03 9.96816255e-01 -7.62882469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14771942099999 meters 0.05060289573892845 Centerline is valid? [True, True] Translation: X:73.78, Y:-9.91, Z:-7.63 [[ 9.70622949e-01 2.28298280e-01 7.59670042e-02 7.37819792e+01] [-2.27508792e-01 9.73590540e-01 -1.90055100e-02 -9.91440033e+00] [-7.82996819e-02 1.16402285e-03 9.96929187e-01 -7.63037656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17771942099999 meters 0.05176906964709803 Centerline is valid? [True, True] Translation: X:73.81, Y:-9.92, Z:-7.64 [[ 9.70975362e-01 2.27784659e-01 7.29451585e-02 7.38109986e+01] [-2.27053178e-01 9.73710811e-01 -1.82787097e-02 -9.92148578e+00] [-7.51910991e-02 1.18574676e-03 9.97168437e-01 -7.63906809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.207719421 meters 0.05134411858248799 Centerline is valid? [True, True] Translation: X:73.84, Y:-9.92, Z:-7.64 [[ 9.71172151e-01 2.27768306e-01 7.03295903e-02 7.38442580e+01] [-2.27088732e-01 9.73714691e-01 -1.76183821e-02 -9.91875062e+00] [-7.24938643e-02 1.13942454e-03 9.97368208e-01 -7.64489008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.237719421 meters 0.05139129519398602 Centerline is valid? [True, True] Translation: X:73.88, Y:-9.92, Z:-7.65 [[ 9.71106278e-01 2.27851323e-01 7.09673970e-02 7.38753308e+01] [-2.27157829e-01 9.73695236e-01 -1.78018976e-02 -9.92070093e+00] [-7.31568023e-02 1.16673465e-03 9.97319769e-01 -7.64981120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.267719421 meters 0.05168235790641522 Centerline is valid? [True, True] Translation: X:73.91, Y:-9.92, Z:-7.66 [[ 9.71050111e-01 2.28204085e-01 7.06015364e-02 7.39085495e+01] [-2.27517239e-01 9.73612636e-01 -1.77296537e-02 -9.91815004e+00] [-7.27845274e-02 1.15331552e-03 9.97347022e-01 -7.65661345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.297719421 meters 0.05127732903692694 Centerline is valid? [True, True] Translation: X:73.94, Y:-9.92, Z:-7.66 [[ 9.70971281e-01 2.29115173e-01 6.87095994e-02 7.39409320e+01] [-2.28465390e-01 9.73398724e-01 -1.72768328e-02 -9.92123143e+00] [-7.08402210e-02 1.07754309e-03 9.97487094e-01 -7.65907771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.327719421 meters 0.05149976945216662 Centerline is valid? [True, True] Translation: X:73.97, Y:-9.92, Z:-7.66 [[ 9.70402161e-01 2.31900338e-01 6.73934648e-02 7.39726338e+01] [-2.31280277e-01 9.72739152e-01 -1.69698505e-02 -9.92346819e+00] [-6.94915759e-02 8.80800382e-04 9.97582150e-01 -7.66393657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.357719421 meters 0.05023829560262859 Centerline is valid? [True, True] Translation: X:74.01, Y:-9.92, Z:-7.66 [[ 9.69878665e-01 2.34098102e-01 6.73309342e-02 7.40055201e+01] [-2.33483638e-01 9.72212703e-01 -1.69661867e-02 -9.92446737e+00] [-6.94317416e-02 7.34471007e-04 9.97586434e-01 -7.66320586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.387719421 meters 0.04993317054216802 Centerline is valid? [True, True] Translation: X:74.04, Y:-9.92, Z:-7.67 [[ 9.68879154e-01 2.38816836e-01 6.51130007e-02 7.40395003e+01] [-2.38251437e-01 9.71064548e-01 -1.64285456e-02 -9.91519540e+00] [-6.71523399e-02 4.04009370e-04 9.97742652e-01 -7.67279649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.417719421 meters 0.05038889588228482 Centerline is valid? [True, True] Translation: X:74.07, Y:-9.91, Z:-7.68 [[ 9.68179463e-01 2.41833640e-01 6.43818156e-02 7.40721057e+01] [-2.41286354e-01 9.70317704e-01 -1.62618771e-02 -9.91354042e+00] [-6.64034844e-02 2.09961900e-04 9.97792831e-01 -7.68224282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.447719421 meters 0.05038889588228482 Centerline is valid? [True, True] Translation: X:74.10, Y:-9.92, Z:-7.69 [[ 9.68101742e-01 2.42145965e-01 6.43766228e-02 7.41033707e+01] [-2.41598004e-01 9.70239809e-01 -1.62824008e-02 -9.92173798e+00] [-6.64034799e-02 2.09756946e-04 9.97792831e-01 -7.68557482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.477719421 meters 0.050255046542508605 Centerline is valid? [True, True] Translation: X:74.14, Y:-9.92, Z:-7.69 [[ 9.67175769e-01 2.45920200e-01 6.39866114e-02 7.41374848e+01] [-2.45385683e-01 9.69290078e-01 -1.62053092e-02 -9.92078112e+00] [-6.60068004e-02 -2.80159759e-05 9.97819173e-01 -7.68864743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.507719421 meters 0.04957480470649539 Centerline is valid? [True, True] Translation: X:74.17, Y:-9.92, Z:-7.68 [[ 9.65277458e-01 2.52959848e-01 6.51977382e-02 7.41723777e+01] [-2.52419267e-01 9.67476651e-01 -1.65361283e-02 -9.91882874e+00] [-6.72602659e-02 -4.95213425e-04 9.97735341e-01 -7.68249649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53771942099999 meters 0.05058186195205549 Centerline is valid? [True, True] Translation: X:74.21, Y:-9.91, Z:-7.69 [[ 9.63298407e-01 2.59671154e-01 6.80225756e-02 7.42057214e+01] [-2.59097380e-01 9.65696606e-01 -1.72804166e-02 -9.91346575e+00] [-7.01763961e-02 -9.78273363e-04 9.97534118e-01 -7.68618919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56771942099999 meters 0.05037974600778965 Centerline is valid? [True, True] Translation: X:74.24, Y:-9.91, Z:-7.69 [[ 9.62389668e-01 2.62950643e-01 6.82867909e-02 7.42386303e+01] [-2.62380045e-01 9.64808523e-01 -1.73558767e-02 -9.91471015e+00] [-7.04474168e-02 -1.21397485e-03 9.97514756e-01 -7.68578094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.597719421 meters 0.05178827941684776 Centerline is valid? [True, True] Translation: X:74.27, Y:-9.91, Z:-7.69 [[ 9.60406815e-01 2.69836203e-01 6.93337797e-02 7.42740612e+01] [-2.69263728e-01 9.62904708e-01 -1.76512980e-02 -9.90531009e+00] [-7.15247821e-02 -1.71664510e-03 9.97437346e-01 -7.68954096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.627719421 meters 0.052851034934458356 Centerline is valid? [True, True] Translation: X:74.31, Y:-9.91, Z:-7.69 [[ 9.59559800e-01 2.72634230e-01 7.01110979e-02 7.43051183e+01] [-2.72056136e-01 9.62115790e-01 -1.78511772e-02 -9.90648906e+00] [-7.23218363e-02 -1.94488235e-03 9.97379451e-01 -7.69376893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.657719421 meters 0.05343928641447684 Centerline is valid? [True, True] Translation: X:74.34, Y:-9.91, Z:-7.70 [[ 9.58991555e-01 2.74586082e-01 7.02686406e-02 7.43361927e+01] [-2.74009440e-01 9.61560270e-01 -1.79073897e-02 -9.91288836e+00] [-7.24846529e-02 -2.08123541e-03 9.97367356e-01 -7.69658111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.687719421 meters 0.05325248378815331 Centerline is valid? [True, True] Translation: X:74.37, Y:-9.92, Z:-7.70 [[ 9.59246642e-01 2.74111237e-01 6.86214982e-02 7.43667806e+01] [-2.73558624e-01 9.61695961e-01 -1.75087737e-02 -9.92346567e+00] [-7.07923693e-02 -1.97677031e-03 9.97489114e-01 -7.70022321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.717719421 meters 0.05392463556869117 Centerline is valid? [True, True] Translation: X:74.40, Y:-9.93, Z:-7.71 [[ 9.60031210e-01 2.72135362e-01 6.54402058e-02 7.43960270e+01] [-2.71626876e-01 9.62257432e-01 -1.67175007e-02 -9.93176869e+00] [-6.75197475e-02 -1.72599619e-03 9.97716445e-01 -7.70883540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.747719421 meters 0.05296520193092129 Centerline is valid? [True, True] Translation: X:74.43, Y:-9.94, Z:-7.71 [[ 9.59943649e-01 2.72419216e-01 6.55435875e-02 7.44277916e+01] [-2.71908632e-01 9.62177099e-01 -1.67608610e-02 -9.94095773e+00] [-6.76305195e-02 -1.73238513e-03 9.97708931e-01 -7.70954617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.777719421 meters 0.05277965367723161 Centerline is valid? [True, True] Translation: X:74.46, Y:-9.95, Z:-7.71 [[ 9.59448685e-01 2.73639879e-01 6.76715374e-02 7.44592923e+01] [-2.73096690e-01 9.61830437e-01 -1.73323084e-02 -9.94611713e+00] [-6.98313552e-02 -1.85141233e-03 9.97557093e-01 -7.71118663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.807719421 meters 0.05298005494798796 Centerline is valid? [True, True] Translation: X:74.49, Y:-9.95, Z:-7.71 [[ 9.59231633e-01 2.74279973e-01 6.81554876e-02 7.44913386e+01] [-2.73729106e-01 9.61648022e-01 -1.74773331e-02 -9.95398537e+00] [-7.03352723e-02 -1.89132999e-03 9.97521615e-01 -7.71482462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.837719421 meters 0.053047868400437063 Centerline is valid? [True, True] Translation: X:74.52, Y:-9.96, Z:-7.72 [[ 9.59414673e-01 2.73516257e-01 6.86465010e-02 7.45205115e+01] [-2.72953495e-01 9.61865655e-01 -1.76309848e-02 -9.96425326e+00] [-7.08510726e-02 -1.82187679e-03 9.97485241e-01 -7.71795708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.867719421 meters 0.052514482921914574 Centerline is valid? [True, True] Translation: X:74.55, Y:-9.98, Z:-7.72 [[ 9.59728383e-01 2.72311708e-01 6.90489968e-02 7.45503241e+01] [-2.71737779e-01 9.62207546e-01 -1.77543630e-02 -9.97653108e+00] [-7.12741867e-02 -1.72385489e-03 9.97455271e-01 -7.72007057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89771942099999 meters 0.05043735863601916 Centerline is valid? [True, True] Translation: X:74.58, Y:-10.00, Z:-7.72 [[ 9.61025765e-01 2.66889648e-01 7.21068240e-02 7.45779459e+01] [-2.66246054e-01 9.63726151e-01 -1.85726586e-02 -9.99505427e+00] [-7.44480823e-02 -1.34935395e-03 9.97223978e-01 -7.71962840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92771942099999 meters 0.04943546665830652 Centerline is valid? [True, True] Translation: X:74.61, Y:-10.01, Z:-7.72 [[ 9.61842191e-01 2.63510752e-01 7.36320843e-02 7.46079670e+01] [-2.62830157e-01 9.64655813e-01 -1.89597287e-02 -1.00072067e+01] [-7.60257105e-02 -1.11646527e-03 9.97105233e-01 -7.72194451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.957719421 meters 0.04854730211727764 Centerline is valid? [True, True] Translation: X:74.64, Y:-10.02, Z:-7.73 [[ 9.64115233e-01 2.55363416e-01 7.26040174e-02 7.46374315e+01] [-2.54676488e-01 9.66845041e-01 -1.87230698e-02 -1.00222313e+01] [-7.49780213e-02 -4.39339380e-04 9.97185090e-01 -7.72702678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.987719421 meters 0.04841655946330985 Centerline is valid? [True, True] Translation: X:74.67, Y:-10.04, Z:-7.73 [[ 9.65165741e-01 2.51249342e-01 7.29990488e-02 7.46670916e+01] [-2.50542920e-01 9.67922391e-01 -1.88279283e-02 -1.00363595e+01] [-7.53879184e-02 -1.17323502e-04 9.97154275e-01 -7.72985872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.017719421 meters 0.04853554431747316 Centerline is valid? [True, True] Translation: X:74.70, Y:-10.05, Z:-7.73 [[ 9.66783569e-01 2.44466442e-01 7.46035524e-02 7.46951193e+01] [-2.43706416e-01 9.69657651e-01 -1.92671449e-02 -1.00540320e+01] [-7.70500758e-02 4.45794686e-04 9.97027125e-01 -7.73075969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.047719421 meters 0.04871016156062678 Centerline is valid? [True, True] Translation: X:74.73, Y:-10.06, Z:-7.73 [[ 9.67295756e-01 2.42233862e-01 7.52441064e-02 7.47276553e+01] [-2.41452315e-01 9.70217673e-01 -1.94536750e-02 -1.00598813e+01] [-7.77155006e-02 6.49593538e-04 9.96975365e-01 -7.73365735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.077719421 meters 0.048609642886332016 Centerline is valid? [True, True] Translation: X:74.76, Y:-10.06, Z:-7.74 [[ 9.66921946e-01 2.43224014e-01 7.68376777e-02 7.47586582e+01] [-2.42409659e-01 9.69969951e-01 -1.98960397e-02 -1.00640010e+01] [-7.93694330e-02 6.11722239e-04 9.96845083e-01 -7.73588107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.107719421 meters 0.04820661079084759 Centerline is valid? [True, True] Translation: X:74.79, Y:-10.07, Z:-7.74 [[ 9.66547248e-01 2.44089231e-01 7.87836559e-02 7.47919289e+01] [-2.43233773e-01 9.69752603e-01 -2.04259878e-02 -1.00660630e+01] [-8.13864190e-02 5.79836473e-04 9.96682454e-01 -7.73654524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.137719421 meters 0.0484749461048163 Centerline is valid? [True, True] Translation: X:74.82, Y:-10.07, Z:-7.74 [[ 9.66526489e-01 2.44595279e-01 7.74577026e-02 7.48220745e+01] [-2.43768984e-01 9.69625112e-01 -2.00954039e-02 -1.00730111e+01] [-8.00201745e-02 5.40954684e-04 9.96793097e-01 -7.74200540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.167719421 meters 0.04930682484249364 Centerline is valid? [True, True] Translation: X:74.85, Y:-10.08, Z:-7.75 [[ 9.67073565e-01 2.43476723e-01 7.40797190e-02 7.48519810e+01] [-2.42717060e-01 9.69906546e-01 -1.92281385e-02 -1.00792697e+01] [-7.65320085e-02 6.14612836e-04 9.97066936e-01 -7.75062773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.197719421 meters 0.04947214268247042 Centerline is valid? [True, True] Translation: X:74.88, Y:-10.08, Z:-7.76 [[ 9.67153368e-01 2.43602190e-01 7.26108518e-02 7.48826653e+01] [-2.42871178e-01 9.69875042e-01 -1.88677905e-02 -1.00838644e+01] [-7.50196881e-02 6.12964068e-04 9.97181864e-01 -7.75610025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.227719421 meters 0.04961594913816906 Centerline is valid? [True, True] Translation: X:74.91, Y:-10.09, Z:-7.76 [[ 9.67095017e-01 2.44014173e-01 7.20021626e-02 7.49140211e+01] [-2.43295003e-01 9.69771482e-01 -1.87300074e-02 -1.00862105e+01] [-7.43960312e-02 5.95930390e-04 9.97228597e-01 -7.75966337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.257719421 meters 0.04957755519859571 Centerline is valid? [True, True] Translation: X:74.95, Y:-10.09, Z:-7.76 [[ 9.66803899e-01 2.45247822e-01 7.17197740e-02 7.49467735e+01] [-2.44536328e-01 9.69460282e-01 -1.86747282e-02 -1.00921115e+01] [-7.41094088e-02 5.16709866e-04 9.97249983e-01 -7.76221315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28771942099999 meters 0.04923139876736562 Centerline is valid? [True, True] Translation: X:74.98, Y:-10.09, Z:-7.76 [[ 9.65884347e-01 2.48745458e-01 7.20633431e-02 7.49790958e+01] [-2.48034856e-01 9.68568852e-01 -1.87906542e-02 -1.00939763e+01] [-7.44723994e-02 2.75377865e-04 9.97223037e-01 -7.76488062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31771942099999 meters 0.048955884706517495 Centerline is valid? [True, True] Translation: X:75.01, Y:-10.09, Z:-7.77 [[ 9.64263009e-01 2.54728455e-01 7.28715523e-02 7.50125808e+01] [-2.54017138e-01 9.67012609e-01 -1.90238636e-02 -1.00926194e+01] [-7.53136293e-02 -1.66615198e-04 9.97159882e-01 -7.76850920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.347719421 meters 0.04909899218168389 Centerline is valid? [True, True] Translation: X:75.05, Y:-10.09, Z:-7.77 [[ 9.63077545e-01 2.59312103e-01 7.23800722e-02 7.50456375e+01] [-2.58621666e-01 9.65793447e-01 -1.89169490e-02 -1.00942526e+01] [-7.48095932e-02 -5.00566012e-04 9.97197711e-01 -7.77008152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.377719421 meters 0.05016766677401079 Centerline is valid? [True, True] Translation: X:75.08, Y:-10.09, Z:-7.78 [[ 9.61788170e-01 2.64083861e-01 7.22719177e-02 7.50777415e+01] [-2.63407150e-01 9.64499350e-01 -1.89123489e-02 -1.00937477e+01] [-7.47006638e-02 -8.47266443e-04 9.97205642e-01 -7.77687604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.407719421 meters 0.05368803692325381 Centerline is valid? [True, True] Translation: X:75.11, Y:-10.09, Z:-7.78 [[ 9.59166897e-01 2.74423903e-01 6.84863879e-02 7.51106734e+01] [-2.73840582e-01 9.61607590e-01 -1.79493467e-02 -1.00869111e+01] [-7.07827602e-02 -1.53793312e-03 9.97490569e-01 -7.78392249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.437719421 meters 0.055783609464453106 Centerline is valid? [True, True] Translation: X:75.14, Y:-10.09, Z:-7.79 [[ 9.58069152e-01 2.78592130e-01 6.70068999e-02 7.51398066e+01] [-2.78043808e-01 9.60407815e-01 -1.75633134e-02 -1.00893422e+01] [-6.92469512e-02 -1.80398484e-03 9.97597918e-01 -7.78989711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.467719421 meters 0.055493337353077064 Centerline is valid? [True, True] Translation: X:75.17, Y:-10.10, Z:-7.79 [[ 9.57051174e-01 2.81964777e-01 6.74456438e-02 7.51692447e+01] [-2.81417990e-01 9.59422531e-01 -1.76726402e-02 -1.00965430e+01] [-6.96919324e-02 -2.06679642e-03 9.97566420e-01 -7.78860862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.497719421 meters 0.05530076858826276 Centerline is valid? [True, True] Translation: X:75.20, Y:-10.10, Z:-7.79 [[ 9.57042051e-01 2.81520006e-01 6.94046032e-02 7.51975002e+01] [-2.80939935e-01 9.59553070e-01 -1.81840075e-02 -1.01020596e+01] [-7.17165620e-02 -2.09566494e-03 9.97422851e-01 -7.78989724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.527719421 meters 0.05535131594488891 Centerline is valid? [True, True] Translation: X:75.23, Y:-10.11, Z:-7.79 [[ 9.56955275e-01 2.81217986e-01 7.17847142e-02 7.52251062e+01] [-2.80597010e-01 9.59641506e-01 -1.88015285e-02 -1.01057751e+01] [-7.41749193e-02 -2.15035428e-03 9.97242928e-01 -7.79201676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.557719421 meters 0.05470363346463106 Centerline is valid? [True, True] Translation: X:75.25, Y:-10.12, Z:-7.80 [[ 9.57373009e-01 2.80224665e-01 7.00789438e-02 7.52518757e+01] [-2.79630899e-01 9.59932292e-01 -1.83454458e-02 -1.01200826e+01] [-7.24118875e-02 -2.03280340e-03 9.97372742e-01 -7.79535258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.587719421 meters 0.05474658762675704 Centerline is valid? [True, True] Translation: X:75.28, Y:-10.13, Z:-7.80 [[ 9.57857547e-01 2.78524556e-01 7.02352543e-02 7.52787135e+01] [-2.77923758e-01 9.60427207e-01 -1.83838279e-02 -1.01298163e+01] [-7.25761966e-02 -1.91095751e-03 9.97361040e-01 -7.80081213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.617719421 meters 0.052136523606020085 Centerline is valid? [True, True] Translation: X:75.31, Y:-10.15, Z:-7.80 [[ 9.58946854e-01 2.73834532e-01 7.37263893e-02 7.53063835e+01] [-2.73159191e-01 9.61775419e-01 -1.92899069e-02 -1.01466531e+01] [-7.61904715e-02 -1.64104532e-03 9.97091931e-01 -7.79884771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64771942099999 meters 0.051487419322239054 Centerline is valid? [True, True] Translation: X:75.34, Y:-10.16, Z:-7.80 [[ 9.59475078e-01 2.71789731e-01 7.44171826e-02 7.53365510e+01] [-2.71095885e-01 9.62355496e-01 -1.94658862e-02 -1.01594420e+01] [-7.69064126e-02 -1.49715929e-03 9.97037192e-01 -7.80141135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67771942099999 meters 0.050826737706915 Centerline is valid? [True, True] Translation: X:75.36, Y:-10.18, Z:-7.81 [[ 9.60474753e-01 2.68340221e-01 7.40390143e-02 7.53638667e+01] [-2.67641161e-01 9.63323472e-01 -1.93932321e-02 -1.01753984e+01] [-7.65275045e-02 -1.18917792e-03 9.97066762e-01 -7.80588721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.707719421 meters 0.05047702954923015 Centerline is valid? [True, True] Translation: X:75.39, Y:-10.19, Z:-7.81 [[ 9.61101175e-01 2.65945294e-01 7.45495281e-02 7.53926395e+01] [-2.65228550e-01 9.63987609e-01 -1.95373053e-02 -1.01892350e+01] [-7.70606757e-02 -9.95336166e-04 9.97025908e-01 -7.81046143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.737719421 meters 0.0503504868055411 Centerline is valid? [True, True] Translation: X:75.42, Y:-10.20, Z:-7.82 [[ 9.61464776e-01 2.64686832e-01 7.43395361e-02 7.54215732e+01] [-2.63968386e-01 9.64334034e-01 -1.95079977e-02 -1.01993057e+01] [-7.68516549e-02 -8.67034706e-04 9.97042161e-01 -7.81547437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.767719421 meters 0.050264810617940255 Centerline is valid? [True, True] Translation: X:75.45, Y:-10.21, Z:-7.82 [[ 9.61957240e-01 2.63210651e-01 7.32012369e-02 7.54523037e+01] [-2.62509221e-01 9.64738110e-01 -1.92168854e-02 -1.02117112e+01] [-7.56781118e-02 -7.30177639e-04 9.97132033e-01 -7.82041682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.797719421 meters 0.04964645587894908 Centerline is valid? [True, True] Translation: X:75.48, Y:-10.23, Z:-7.82 [[ 9.62193494e-01 2.62209330e-01 7.36881776e-02 7.54814011e+01] [-2.61493621e-01 9.65010813e-01 -1.93705174e-02 -1.02287176e+01] [-7.61890186e-02 -6.30802588e-04 9.97093193e-01 -7.82025337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.827719421 meters 0.04890646269590622 Centerline is valid? [True, True] Translation: X:75.51, Y:-10.24, Z:-7.82 [[ 9.62288549e-01 2.60357279e-01 7.88342311e-02 7.55099611e+01] [-2.59529066e-01 9.65512222e-01 -2.07560407e-02 -1.02412422e+01] [-8.15193999e-02 -4.86474042e-04 9.96671636e-01 -7.81733526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.857719421 meters 0.04836806007350548 Centerline is valid? [True, True] Translation: X:75.54, Y:-10.25, Z:-7.82 [[ 9.62799360e-01 2.58184296e-01 7.97387109e-02 7.55409152e+01] [-2.57329809e-01 9.66095634e-01 -2.09903780e-02 -1.02511856e+01] [-8.24546064e-02 -3.09624721e-04 9.96594773e-01 -7.81835037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.887719421 meters 0.04859162796106908 Centerline is valid? [True, True] Translation: X:75.57, Y:-10.26, Z:-7.82 [[ 9.64236541e-01 2.53476655e-01 7.74433843e-02 7.55712356e+01] [-2.52653670e-01 9.67341497e-01 -2.04095675e-02 -1.02616317e+01] [-8.00875483e-02 1.13295506e-04 9.96787827e-01 -7.82468335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.917719421 meters 0.048839715112398055 Centerline is valid? [True, True] Translation: X:75.60, Y:-10.27, Z:-7.83 [[ 9.64906856e-01 2.51380496e-01 7.59118227e-02 7.56016420e+01] [-2.50581456e-01 9.67888296e-01 -2.00294956e-02 -1.02716406e+01] [-7.85091892e-02 3.04502639e-04 9.96913344e-01 -7.82901753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.947719421 meters 0.04926970969845114 Centerline is valid? [True, True] Translation: X:75.63, Y:-10.28, Z:-7.83 [[ 9.65826841e-01 2.47908605e-01 7.56296040e-02 7.56311139e+01] [-2.47102905e-01 9.68783233e-01 -1.99800271e-02 -1.02823340e+01] [-7.82219130e-02 6.08951598e-04 9.96935786e-01 -7.83259687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.977719421 meters 0.049379459977109436 Centerline is valid? [True, True] Translation: X:75.66, Y:-10.29, Z:-7.83 [[ 9.65863694e-01 2.47590014e-01 7.62004516e-02 7.56621882e+01] [-2.46769339e-01 9.68864670e-01 -2.01530473e-02 -1.02879157e+01] [-7.88176186e-02 6.61161635e-04 9.96888833e-01 -7.83466288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.007719421 meters 0.04974321967594058 Centerline is valid? [True, True] Translation: X:75.69, Y:-10.29, Z:-7.84 [[ 9.65892205e-01 2.47584922e-01 7.58548272e-02 7.56929888e+01] [-2.46769674e-01 9.68865955e-01 -2.00870252e-02 -1.02944774e+01] [-7.84664042e-02 6.83230123e-04 9.96916524e-01 -7.84112904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03771942099999 meters 0.04948677955867095 Centerline is valid? [True, True] Translation: X:75.73, Y:-10.29, Z:-7.84 [[ 9.65847298e-01 2.48704434e-01 7.26986995e-02 7.57262105e+01] [-2.47957156e-01 9.68579247e-01 -1.92741191e-02 -1.02945681e+01] [-7.52080104e-02 5.89693025e-04 9.97167693e-01 -7.84448787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06771942099999 meters 0.04977199575409781 Centerline is valid? [True, True] Translation: X:75.76, Y:-10.30, Z:-7.85 [[ 9.65665885e-01 2.49344112e-01 7.29171645e-02 7.57567702e+01] [-2.48592048e-01 9.68414782e-01 -1.93598350e-02 -1.03006047e+01] [-7.54413208e-02 5.68504945e-04 9.97150081e-01 -7.85053394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.097719421 meters 0.049126868491111614 Centerline is valid? [True, True] Translation: X:75.79, Y:-10.30, Z:-7.85 [[ 9.64550088e-01 2.53277251e-01 7.41199105e-02 7.57903254e+01] [-2.52510912e-01 9.67393693e-01 -1.96896233e-02 -1.03016507e+01] [-7.66900677e-02 2.75541673e-04 9.97054942e-01 -7.85047644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.127719421 meters 0.04895494147901607 Centerline is valid? [True, True] Translation: X:75.82, Y:-10.30, Z:-7.85 [[ 9.63412762e-01 2.57374525e-01 7.47944083e-02 7.58234887e+01] [-2.56604192e-01 9.66311727e-01 -1.98981199e-02 -1.03037631e+01] [-7.73959830e-02 -2.24560526e-05 9.97000432e-01 -7.85269980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.157719421 meters 0.04963550146456165 Centerline is valid? [True, True] Translation: X:75.86, Y:-10.30, Z:-7.86 [[ 9.60834963e-01 2.66910343e-01 7.45321607e-02 7.58582218e+01] [-2.66173706e-01 9.63721046e-01 -1.98318654e-02 -1.02979213e+01] [-7.71215419e-02 -7.83351804e-04 9.97021391e-01 -7.85645225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.187719421 meters 0.05063531350086601 Centerline is valid? [True, True] Translation: X:75.89, Y:-10.30, Z:-7.86 [[ 9.59487080e-01 2.71797072e-01 7.42353992e-02 7.58895717e+01] [-2.71078536e-01 9.62353910e-01 -1.97833074e-02 -1.03000352e+01] [-7.68177717e-02 -1.14179549e-03 9.97044496e-01 -7.86035135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.217719421 meters 0.053519407533173746 Centerline is valid? [True, True] Translation: X:75.92, Y:-10.30, Z:-7.87 [[ 9.56686126e-01 2.81634942e-01 7.37117049e-02 7.59202930e+01] [-2.80955268e-01 9.59519724e-01 -1.96478202e-02 -1.02974321e+01] [-7.62613475e-02 -1.91289484e-03 9.97086028e-01 -7.86545270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.247719421 meters 0.05604431229659473 Centerline is valid? [True, True] Translation: X:75.95, Y:-10.30, Z:-7.87 [[ 9.54189722e-01 2.89949501e-01 7.38326536e-02 7.59524413e+01] [-2.89292235e-01 9.57038471e-01 -1.96816613e-02 -1.02956366e+01] [-7.63673778e-02 -2.57917441e-03 9.97076412e-01 -7.86759381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.277719421 meters 0.05830666568974034 Centerline is valid? [True, True] Translation: X:75.98, Y:-10.30, Z:-7.87 [[ 9.53406560e-01 2.92359367e-01 7.44441503e-02 7.59809145e+01] [-2.91698226e-01 9.56304452e-01 -1.98479237e-02 -1.02959435e+01] [-7.69939988e-02 -2.79208585e-03 9.97027647e-01 -7.87269126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.307719421 meters 0.058735216887557416 Centerline is valid? [True, True] Translation: X:76.01, Y:-10.30, Z:-7.87 [[ 9.52764441e-01 2.94223139e-01 7.53170916e-02 7.60086370e+01] [-2.93553063e-01 9.55732084e-01 -2.00694572e-02 -1.03035411e+01] [-7.78878596e-02 -2.98809779e-03 9.96957648e-01 -7.87312280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.337719421 meters 0.058735216887557416 Centerline is valid? [True, True] Translation: X:76.04, Y:-10.31, Z:-7.88 [[ 9.52788895e-01 2.94143512e-01 7.53187652e-02 7.60359266e+01] [-2.93473684e-01 9.55756593e-01 -2.00631741e-02 -1.03106992e+01] [-7.78878590e-02 -2.98810607e-03 9.96957648e-01 -7.87602669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.367719421 meters 0.05902454617399195 Centerline is valid? [True, True] Translation: X:76.06, Y:-10.32, Z:-7.88 [[ 9.53075449e-01 2.92923910e-01 7.64380203e-02 7.60628878e+01] [-2.92230608e-01 9.56131242e-01 -2.03548463e-02 -1.03183639e+01] [-7.90472005e-02 -2.93782485e-03 9.96866545e-01 -7.87892616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39771942099999 meters 0.057330977884370304 Centerline is valid? [True, True] Translation: X:76.09, Y:-10.33, Z:-7.88 [[ 9.54392901e-01 2.88447268e-01 7.70218464e-02 7.60886614e+01] [-2.87729594e-01 9.57492262e-01 -2.04999602e-02 -1.03320223e+01] [-7.96609794e-02 -2.59644813e-03 9.96818633e-01 -7.88337298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42771942099999 meters 0.05435106565665603 Centerline is valid? [True, True] Translation: X:76.12, Y:-10.35, Z:-7.89 [[ 9.55562647e-01 2.84701671e-01 7.64525072e-02 7.61151021e+01] [-2.83982765e-01 9.58613484e-01 -2.03464561e-02 -1.03475435e+01] [-7.90810743e-02 -2.26888094e-03 9.96865606e-01 -7.88559774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.457719421 meters 0.051425947905864064 Centerline is valid? [True, True] Translation: X:76.14, Y:-10.37, Z:-7.89 [[ 9.58113001e-01 2.76060022e-01 7.62255961e-02 7.61415119e+01] [-2.75318371e-01 9.61139141e-01 -2.02816587e-02 -1.03659210e+01] [-7.88623591e-02 -1.55418606e-03 9.96884303e-01 -7.88972964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.487719421 meters 0.04970541381783089 Centerline is valid? [True, True] Translation: X:76.17, Y:-10.38, Z:-7.89 [[ 9.60576564e-01 2.67235691e-01 7.66664861e-02 7.61681692e+01] [-2.66457337e-01 9.63630837e-01 -2.03984663e-02 -1.03832089e+01] [-7.93293884e-02 -8.34059055e-04 9.96848109e-01 -7.89377020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.517719421 meters 0.049229687892103816 Centerline is valid? [True, True] Translation: X:76.20, Y:-10.40, Z:-7.90 [[ 9.61380852e-01 2.64493494e-01 7.60923754e-02 7.61975261e+01] [-2.63718568e-01 9.64387278e-01 -2.02409179e-02 -1.03967939e+01] [-7.87361099e-02 -6.07741408e-04 9.96895308e-01 -7.89746674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.547719421 meters 0.04949255644943792 Centerline is valid? [True, True] Translation: X:76.22, Y:-10.42, Z:-7.90 [[ 9.62880028e-01 2.59932090e-01 7.27829721e-02 7.62235331e+01] [-2.59208527e-01 9.65626878e-01 -1.93822597e-02 -1.04173216e+01] [-7.53192654e-02 -2.03176226e-04 9.97159449e-01 -7.90482127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.577719421 meters 0.049286939426331965 Centerline is valid? [True, True] Translation: X:76.25, Y:-10.43, Z:-7.91 [[ 9.63429785e-01 2.58148298e-01 7.18505818e-02 7.62533292e+01] [-2.57436796e-01 9.66105302e-01 -1.91531192e-02 -1.04309668e+01] [-7.43595732e-02 -4.42980811e-05 9.97231494e-01 -7.90790111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.607719421 meters 0.049375503103687164 Centerline is valid? [True, True] Translation: X:76.28, Y:-10.44, Z:-7.91 [[ 9.64609239e-01 2.54430959e-01 6.92380190e-02 7.62835074e+01] [-2.53759304e-01 9.67090907e-01 -1.84768157e-02 -1.04413543e+01] [-7.16605326e-02 2.53115582e-04 9.97429047e-01 -7.91263669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.637719421 meters 0.04959194743941154 Centerline is valid? [True, True] Translation: X:76.31, Y:-10.45, Z:-7.92 [[ 9.64736860e-01 2.54121105e-01 6.85948603e-02 7.63142050e+01] [-2.53459534e-01 9.67172362e-01 -1.83272379e-02 -1.04491014e+01] [-7.10003909e-02 2.94940587e-04 9.97476244e-01 -7.91656621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.667719421 meters 0.04962269908119491 Centerline is valid? [True, True] Translation: X:76.35, Y:-10.46, Z:-7.92 [[ 9.64581261e-01 2.54717522e-01 6.85709522e-02 7.63461942e+01] [-2.54056410e-01 9.67015465e-01 -1.83420426e-02 -1.04572297e+01] [-7.09812109e-02 2.71500604e-04 9.97477616e-01 -7.91941276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.697719421 meters 0.04904659586659099 Centerline is valid? [True, True] Translation: X:76.38, Y:-10.46, Z:-7.92 [[ 9.64104874e-01 2.55109653e-01 7.36264622e-02 7.63765090e+01] [-2.54345505e-01 9.66912083e-01 -1.97329223e-02 -1.04648102e+01] [-7.62243749e-02 2.98046870e-04 9.97090646e-01 -7.91784230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.727719421 meters 0.049269712664382 Centerline is valid? [True, True] Translation: X:76.41, Y:-10.48, Z:-7.92 [[ 9.64971441e-01 2.51077067e-01 7.60948432e-02 7.64065521e+01] [-2.50248406e-01 9.67966892e-01 -2.03919556e-02 -1.04768025e+01] [-7.87772413e-02 6.35041480e-04 9.96892042e-01 -7.91873599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.757719421 meters 0.04966124516831884 Centerline is valid? [True, True] Translation: X:76.44, Y:-10.49, Z:-7.92 [[ 9.65461176e-01 2.49322064e-01 7.56520049e-02 7.64373379e+01] [-2.48495764e-01 9.68420298e-01 -2.02973430e-02 -1.04865713e+01] [-7.83235126e-02 7.97093882e-04 9.96927676e-01 -7.92267221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78771942099999 meters 0.051111152340371765 Centerline is valid? [True, True] Translation: X:76.47, Y:-10.49, Z:-7.93 [[ 9.67010238e-01 2.43839896e-01 7.37109506e-02 7.64678360e+01] [-2.43037422e-01 9.69814711e-01 -1.98049706e-02 -1.04946697e+01] [-7.63152062e-02 1.23708991e-03 9.97082975e-01 -7.92836819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81771942099999 meters 0.051599737760732324 Centerline is valid? [True, True] Translation: X:76.50, Y:-10.50, Z:-7.93 [[ 9.67222890e-01 2.42837374e-01 7.42286341e-02 7.64992016e+01] [-2.42020566e-01 9.70066106e-01 -1.99447903e-02 -1.05017299e+01] [-7.68500226e-02 1.32620163e-03 9.97041782e-01 -7.93192337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.847719421 meters 0.05093034654103205 Centerline is valid? [True, True] Translation: X:76.53, Y:-10.50, Z:-7.93 [[ 9.66585637e-01 2.44702024e-01 7.63748980e-02 7.65322878e+01] [-2.43840870e-01 9.69597538e-01 -2.05486001e-02 -1.05043222e+01] [-7.90811970e-02 1.23866016e-03 9.96867408e-01 -7.93220833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.877719421 meters 0.05048178892490791 Centerline is valid? [True, True] Translation: X:76.56, Y:-10.51, Z:-7.94 [[ 9.65848657e-01 2.47646938e-01 7.62060761e-02 7.65636525e+01] [-2.46796781e-01 9.68849810e-01 -2.05278820e-02 -1.05080207e+01] [-7.89159095e-02 1.01941298e-03 9.96880755e-01 -7.93578074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.907719421 meters 0.04995675638824076 Centerline is valid? [True, True] Translation: X:76.60, Y:-10.50, Z:-7.94 [[ 9.63872654e-01 2.56370573e-01 7.22747245e-02 7.65973704e+01] [-2.55628662e-01 9.66578518e-01 -1.94924489e-02 -1.04980912e+01] [-7.48564864e-02 3.12747312e-04 9.97194268e-01 -7.94402259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.937719421 meters 0.049786296352107275 Centerline is valid? [True, True] Translation: X:76.63, Y:-10.50, Z:-7.95 [[ 9.62580143e-01 2.61609223e-01 7.07112654e-02 7.66312772e+01] [-2.60912791e-01 9.65173874e-01 -1.90763792e-02 -1.04967371e+01] [-7.32392227e-02 -8.69298234e-05 9.97314398e-01 -7.94621828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.967719421 meters 0.05070628323892391 Centerline is valid? [True, True] Translation: X:76.66, Y:-10.49, Z:-7.95 [[ 9.59926830e-01 2.71193565e-01 7.06720040e-02 7.66630394e+01] [-2.70521259e-01 9.62524512e-01 -1.91000575e-02 -1.04890287e+01] [-7.32033488e-02 -7.83621871e-04 9.97316728e-01 -7.94858953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.997719421 meters 0.05155579438974651 Centerline is valid? [True, True] Translation: X:76.69, Y:-10.49, Z:-7.95 [[ 9.58608745e-01 2.75585930e-01 7.15658330e-02 7.66925248e+01] [-2.74909025e-01 9.61275768e-01 -1.93371719e-02 -1.04903875e+01] [-7.41235536e-02 -1.13731134e-03 9.97248417e-01 -7.95081927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.027719421 meters 0.05359300957780818 Centerline is valid? [True, True] Translation: X:76.72, Y:-10.49, Z:-7.96 [[ 9.56667002e-01 2.82497771e-01 7.05921826e-02 7.67232400e+01] [-2.81858481e-01 9.59266524e-01 -1.90665175e-02 -1.04891059e+01] [-7.31029664e-02 -1.65669724e-03 9.97323023e-01 -7.95628422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.057719421 meters 0.05583299319977984 Centerline is valid? [True, True] Translation: X:76.75, Y:-10.49, Z:-7.97 [[ 9.56269427e-01 2.84299882e-01 6.87194279e-02 7.67512543e+01] [-2.83698857e-01 9.58733811e-01 -1.85590341e-02 -1.04910681e+01] [-7.11599702e-02 -1.74818625e-03 9.97463384e-01 -7.96536353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.087719421 meters 0.05524591429087285 Centerline is valid? [True, True] Translation: X:76.78, Y:-10.50, Z:-7.97 [[ 9.55987443e-01 2.85530531e-01 6.75301824e-02 7.67782935e+01] [-2.84953624e-01 9.58367898e-01 -1.82319829e-02 -1.05021691e+01] [-6.99245467e-02 -1.81342348e-03 9.97550635e-01 -7.96692798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.117719421 meters 0.05501199380923218 Centerline is valid? [True, True] Translation: X:76.80, Y:-10.51, Z:-7.97 [[ 9.56203732e-01 2.84412777e-01 6.91649860e-02 7.68047840e+01] [-2.83805063e-01 9.58700269e-01 -1.86676242e-02 -1.05113108e+01] [-7.16178015e-02 -1.77932125e-03 9.97430561e-01 -7.96863274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14771942099999 meters 0.05462106989485478 Centerline is valid? [True, True] Translation: X:76.83, Y:-10.52, Z:-7.97 [[ 9.56437048e-01 2.83524827e-01 6.95833702e-02 7.68324359e+01] [-2.82907991e-01 9.58963334e-01 -1.87721405e-02 -1.05206180e+01] [-7.20502686e-02 -1.73132089e-03 9.97399499e-01 -7.97084890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17771942099999 meters 0.05421601098651025 Centerline is valid? [True, True] Translation: X:76.86, Y:-10.53, Z:-7.97 [[ 9.56917648e-01 2.81693874e-01 7.04072229e-02 7.68590398e+01] [-2.81057840e-01 9.59502966e-01 -1.89881088e-02 -1.05306791e+01] [-7.29047731e-02 -1.61844560e-03 9.97337593e-01 -7.97319817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.207719421 meters 0.05391890920086388 Centerline is valid? [True, True] Translation: X:76.89, Y:-10.54, Z:-7.98 [[ 9.57455392e-01 2.80202309e-01 6.90350469e-02 7.68863654e+01] [-2.79587398e-01 9.59939828e-01 -1.86122124e-02 -1.05398613e+01] [-7.14846759e-02 -1.48096601e-03 9.97440599e-01 -7.97727693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.237719421 meters 0.05318865064035027 Centerline is valid? [True, True] Translation: X:76.91, Y:-10.55, Z:-7.98 [[ 9.58462860e-01 2.76920358e-01 6.82939344e-02 7.69124574e+01] [-2.76310675e-01 9.60892089e-01 -1.84066417e-02 -1.05530300e+01] [-7.07202751e-02 -1.22826066e-03 9.97495431e-01 -7.98210861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.267719421 meters 0.05136399433707469 Centerline is valid? [True, True] Translation: X:76.94, Y:-10.57, Z:-7.98 [[ 9.59376210e-01 2.73767098e-01 6.81825840e-02 7.69398774e+01] [-2.73152056e-01 9.61795494e-01 -1.83679876e-02 -1.05681580e+01] [-7.06062526e-02 -1.00240266e-03 9.97503761e-01 -7.98047993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.297719421 meters 0.050169948390066145 Centerline is valid? [True, True] Translation: X:76.97, Y:-10.59, Z:-7.98 [[ 9.61692497e-01 2.65000967e-01 7.01571736e-02 7.69665176e+01] [-2.64326627e-01 9.64248075e-01 -1.88966792e-02 -1.05862132e+01] [-7.26565579e-02 -3.71614445e-04 9.97356950e-01 -7.98273823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.327719421 meters 0.05008282473930394 Centerline is valid? [True, True] Translation: X:77.00, Y:-10.60, Z:-7.99 [[ 9.62808875e-01 2.61012700e-01 6.97957052e-02 7.69969980e+01] [-2.60334592e-01 9.65335365e-01 -1.88025000e-02 -1.06006770e+01] [-7.22839538e-02 -6.70225259e-05 9.97384091e-01 -7.98662187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.357719421 meters 0.05018232847472623 Centerline is valid? [True, True] Translation: X:77.02, Y:-10.62, Z:-7.99 [[ 9.63916023e-01 2.56444883e-01 7.14277512e-02 7.70244153e+01] [-2.55719908e-01 9.66558806e-01 -1.92718265e-02 -1.06187274e+01] [-7.39812833e-02 3.10924400e-04 9.97259582e-01 -7.98951711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.387719421 meters 0.050080660939462306 Centerline is valid? [True, True] Translation: X:77.06, Y:-10.63, Z:-7.99 [[ 9.63965998e-01 2.56240116e-01 7.14881651e-02 7.70558104e+01] [-2.55511884e-01 9.66613099e-01 -1.93078726e-02 -1.06286440e+01] [-7.40488483e-02 3.46056938e-04 9.97254555e-01 -7.99237327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.417719421 meters 0.05024314544105136 Centerline is valid? [True, True] Translation: X:77.09, Y:-10.64, Z:-8.00 [[ 9.63712766e-01 2.57260901e-01 7.12357586e-02 7.70880777e+01] [-2.56538658e-01 9.66341939e-01 -1.92658603e-02 -1.06350511e+01] [-7.37944537e-02 2.92029590e-04 9.97273430e-01 -7.99566613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.447719421 meters 0.05018314290145357 Centerline is valid? [True, True] Translation: X:77.12, Y:-10.64, Z:-8.00 [[ 9.63150203e-01 2.59603743e-01 7.03390549e-02 7.71191655e+01] [-2.58903865e-01 9.65715216e-01 -1.90502183e-02 -1.06419216e+01] [-7.28730036e-02 1.37168397e-04 9.97341219e-01 -7.99939690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.477719421 meters 0.05014441419361184 Centerline is valid? [True, True] Translation: X:77.15, Y:-10.65, Z:-8.00 [[ 9.61924350e-01 2.64233464e-01 6.98728898e-02 7.71511523e+01] [-2.63553519e-01 9.64458729e-01 -1.89447278e-02 -1.06484781e+01] [-7.23953495e-02 -1.91851015e-04 9.97375996e-01 -8.00351242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.507719421 meters 0.05016226335256547 Centerline is valid? [True, True] Translation: X:77.18, Y:-10.66, Z:-8.01 [[ 9.61612978e-01 2.65427480e-01 6.96328419e-02 7.71825121e+01] [-2.64753462e-01 9.64130794e-01 -1.89054688e-02 -1.06573355e+01] [-7.21531980e-02 -2.55791847e-04 9.97393528e-01 -8.00657540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53771942099999 meters 0.049658575340721677 Centerline is valid? [True, True] Translation: X:77.21, Y:-10.67, Z:-8.01 [[ 9.61681243e-01 2.64713650e-01 7.13853715e-02 7.72136973e+01] [-2.64001174e-01 9.64327046e-01 -1.94094980e-02 -1.06652408e+01] [-7.39768035e-02 -1.80071796e-04 9.97259946e-01 -8.00619552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56771942099999 meters 0.04996019485143849 Centerline is valid? [True, True] Translation: X:77.24, Y:-10.67, Z:-8.01 [[ 9.62374158e-01 2.61966149e-01 7.21783668e-02 7.72429397e+01] [-2.61228134e-01 9.65077061e-01 -1.96501434e-02 -1.06741556e+01] [-7.48053585e-02 5.57701032e-05 9.97198152e-01 -8.01173150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.597719421 meters 0.05012853828727312 Centerline is valid? [True, True] Translation: X:77.27, Y:-10.69, Z:-8.01 [[ 9.63369033e-01 2.58266893e-01 7.22379295e-02 7.72719772e+01] [-2.57515656e-01 9.66073537e-01 -1.96877480e-02 -1.06869232e+01] [-7.48718456e-02 3.64168944e-04 9.97193098e-01 -8.01494684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.627719421 meters 0.05084717422740653 Centerline is valid? [True, True] Translation: X:77.30, Y:-10.70, Z:-8.02 [[ 9.64634653e-01 2.53511743e-01 7.21926781e-02 7.73015364e+01] [-2.52746277e-01 9.67332013e-01 -1.97001701e-02 -1.07017965e+01] [-7.48285131e-02 7.57036138e-04 9.97196129e-01 -8.01780462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.657719421 meters 0.053980775271326595 Centerline is valid? [True, True] Translation: X:77.33, Y:-10.72, Z:-8.02 [[ 9.67720274e-01 2.42328033e-01 6.92430153e-02 7.73275341e+01] [-2.41593198e-01 9.70193081e-01 -1.89238574e-02 -1.07233767e+01] [-7.17648754e-02 1.58435895e-03 9.97420319e-01 -8.02280766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.687719421 meters 0.055941961094696104 Centerline is valid? [True, True] Translation: X:77.36, Y:-10.74, Z:-8.03 [[ 9.69010721e-01 2.37441764e-01 6.81148361e-02 7.73551936e+01] [-2.36718543e-01 9.71399886e-01 -1.86170265e-02 -1.07370348e+01] [-7.05872036e-02 1.91605353e-03 9.97503772e-01 -8.02772384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.717719421 meters 0.05895955931436565 Centerline is valid? [True, True] Translation: X:77.38, Y:-10.75, Z:-8.03 [[ 9.70681208e-01 2.30574230e-01 6.79228794e-02 7.73833265e+01] [-2.29838172e-01 9.73051753e-01 -1.85661091e-02 -1.07479711e+01] [-7.03733432e-02 2.41050270e-03 9.97517810e-01 -8.03165912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.747719421 meters 0.06139424170422487 Centerline is valid? [True, True] Translation: X:77.41, Y:-10.75, Z:-8.03 [[ 9.71726369e-01 2.26457061e-01 6.68211271e-02 7.74124498e+01] [-2.25734852e-01 9.74017499e-01 -1.82671565e-02 -1.07549686e+01] [-6.92216736e-02 2.66682047e-03 9.97597739e-01 -8.03472802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.777719421 meters 0.06101197867500769 Centerline is valid? [True, True] Translation: X:77.44, Y:-10.76, Z:-8.04 [[ 9.72040631e-01 2.25516665e-01 6.54159370e-02 7.74436825e+01] [-2.24822783e-01 9.74235649e-01 -1.78778139e-02 -1.07603406e+01] [-6.77622828e-02 2.67096842e-03 9.97697920e-01 -8.03653201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.807719421 meters 0.06191586882971956 Centerline is valid? [True, True] Translation: X:77.47, Y:-10.77, Z:-8.04 [[ 9.72131266e-01 2.24640714e-01 6.70622868e-02 7.74749926e+01] [-2.23908991e-01 9.74437620e-01 -1.83326964e-02 -1.07657211e+01] [-6.94662851e-02 2.80593840e-03 9.97580354e-01 -8.03806480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.837719421 meters 0.06172308959328663 Centerline is valid? [True, True] Translation: X:77.51, Y:-10.77, Z:-8.04 [[ 9.72021450e-01 2.24702202e-01 6.84340619e-02 7.75074259e+01] [-2.23938253e-01 9.74423204e-01 -1.87370763e-02 -1.07707815e+01] [-7.08940002e-02 2.88783584e-03 9.97479675e-01 -8.03945258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.867719421 meters 0.06021715089676919 Centerline is valid? [True, True] Translation: X:77.54, Y:-10.77, Z:-8.04 [[ 9.71189610e-01 2.27711443e-01 7.02726181e-02 7.75411701e+01] [-2.26912611e-01 9.73724762e-01 -1.92550131e-02 -1.07688834e+01] [-7.28107751e-02 2.75452540e-03 9.97341969e-01 -8.04079439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89771942099999 meters 0.059228146954536515 Centerline is valid? [True, True] Translation: X:77.57, Y:-10.77, Z:-8.05 [[ 9.70452598e-01 2.30954485e-01 6.98697468e-02 7.75733159e+01] [-2.30173119e-01 9.72961350e-01 -1.91454233e-02 -1.07712644e+01] [-7.24022846e-02 2.49758825e-03 9.97372383e-01 -8.04559777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92771942099999 meters 0.057133970882349665 Centerline is valid? [True, True] Translation: X:77.61, Y:-10.77, Z:-8.05 [[ 9.69133460e-01 2.36938713e-01 6.81203524e-02 7.76060402e+01] [-2.36208767e-01 9.71522485e-01 -1.86943875e-02 -1.07669644e+01] [-7.06098782e-02 2.02673204e-03 9.97501949e-01 -8.05117435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.957719421 meters 0.05578603502155918 Centerline is valid? [True, True] Translation: X:77.64, Y:-10.77, Z:-8.06 [[ 9.68250858e-01 2.40650761e-01 6.76571358e-02 7.76380067e+01] [-2.39939549e-01 9.70610199e-01 -1.85702378e-02 -1.07671238e+01] [-7.01376480e-02 1.74702601e-03 9.97535793e-01 -8.05555983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.987719421 meters 0.05336378360173984 Centerline is valid? [True, True] Translation: X:77.67, Y:-10.76, Z:-8.06 [[ 9.66260164e-01 2.48702535e-01 6.69951049e-02 7.76708713e+01] [-2.48024082e-01 9.68579222e-01 -1.83941427e-02 -1.07557906e+01] [-6.94647365e-02 1.15712798e-03 9.97583737e-01 -8.06022022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.017719421 meters 0.05268149918053494 Centerline is valid? [True, True] Translation: X:77.70, Y:-10.76, Z:-8.06 [[ 9.65457540e-01 2.51830600e-01 6.68811475e-02 7.77002370e+01] [-2.51162050e-01 9.67770885e-01 -1.83613406e-02 -1.07557888e+01] [-6.93495747e-02 9.29088628e-04 9.97591987e-01 -8.06377239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.047719421 meters 0.05211813999992077 Centerline is valid? [True, True] Translation: X:77.73, Y:-10.75, Z:-8.07 [[ 9.64369797e-01 2.56733637e-01 6.38649654e-02 7.77307129e+01] [-2.56135156e-01 9.66482044e-01 -1.75282503e-02 -1.07508389e+01] [-6.62244338e-02 5.45652320e-04 9.97804603e-01 -8.06942703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.077719421 meters 0.05198463232291706 Centerline is valid? [True, True] Translation: X:77.76, Y:-10.75, Z:-8.07 [[ 9.63778551e-01 2.58783426e-01 6.45138976e-02 7.77585948e+01] [-2.58177619e-01 9.65935285e-01 -1.77014607e-02 -1.07518117e+01] [-6.68970947e-02 4.04243655e-04 9.97759798e-01 -8.07329600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.107719421 meters 0.05165432994503782 Centerline is valid? [True, True] Translation: X:77.79, Y:-10.75, Z:-8.08 [[ 9.63180591e-01 2.60697517e-01 6.57263516e-02 7.77874980e+01] [-2.60073698e-01 9.65420495e-01 -1.80260688e-02 -1.07530009e+01] [-6.81529182e-02 2.68664282e-04 9.97674851e-01 -8.07561270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.137719421 meters 0.050861478817183066 Centerline is valid? [True, True] Translation: X:77.82, Y:-10.75, Z:-8.07 [[ 9.61833239e-01 2.64668537e-01 6.94793861e-02 7.78184737e+01] [-2.63982175e-01 9.64339445e-01 -1.90485328e-02 -1.07492833e+01] [-7.20432599e-02 -1.98074247e-05 9.97401508e-01 -8.07371650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.167719421 meters 0.05102971734676412 Centerline is valid? [True, True] Translation: X:77.85, Y:-10.74, Z:-8.07 [[ 9.60116526e-01 2.70465736e-01 7.08840041e-02 7.78489161e+01] [-2.69767303e-01 9.62729488e-01 -1.94302583e-02 -1.07449631e+01] [-7.34973401e-02 -4.66874529e-04 9.97295304e-01 -8.07474876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.197719421 meters 0.05135284923547122 Centerline is valid? [True, True] Translation: X:77.88, Y:-10.75, Z:-8.08 [[ 9.59432820e-01 2.72659105e-01 7.17333683e-02 7.78773627e+01] [-2.71950039e-01 9.62110491e-01 -1.96615973e-02 -1.07464804e+01] [-7.43763397e-02 -6.43910532e-04 9.97230036e-01 -8.07804897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.227719421 meters 0.051300206960545595 Centerline is valid? [True, True] Translation: X:77.91, Y:-10.75, Z:-8.08 [[ 9.58170848e-01 2.77079805e-01 7.16617625e-02 7.79070098e+01] [-2.76386203e-01 9.60846380e-01 -1.96188988e-02 -1.07496891e+01] [-7.42919457e-02 -1.00806560e-03 9.97236026e-01 -8.07563133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.257719421 meters 0.05371881529432683 Centerline is valid? [True, True] Translation: X:77.93, Y:-10.75, Z:-8.09 [[ 9.57502015e-01 2.79564156e-01 7.09490958e-02 7.79347569e+01] [-2.78893171e-01 9.60126244e-01 -1.93957302e-02 -1.07506263e+01] [-7.35424398e-02 -1.21576759e-03 9.97291347e-01 -8.08585098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28771942099999 meters 0.05371881529432683 Centerline is valid? [True, True] Translation: X:77.96, Y:-10.76, Z:-8.09 [[ 9.57583807e-01 2.79283711e-01 7.09497118e-02 7.79612112e+01] [-2.78612124e-01 9.60207882e-01 -1.93934801e-02 -1.07575403e+01] [-7.35427556e-02 -1.19656739e-03 9.97291347e-01 -8.08866593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31771942099999 meters 0.056315796556977694 Centerline is valid? [True, True] Translation: X:77.99, Y:-10.76, Z:-8.10 [[ 9.56686005e-01 2.83305132e-01 6.70081264e-02 7.79910050e+01] [-2.82718014e-01 9.59028728e-01 -1.82872376e-02 -1.07593192e+01] [-6.94435865e-02 -1.44926015e-03 9.97584827e-01 -8.09800184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.347719421 meters 0.05712052591318809 Centerline is valid? [True, True] Translation: X:78.02, Y:-10.76, Z:-8.10 [[ 9.56336480e-01 2.84499735e-01 6.69360710e-02 7.80194745e+01] [-2.83916329e-01 9.58674901e-01 -1.82743511e-02 -1.07649831e+01] [-6.93689793e-02 -1.52781491e-03 9.97589901e-01 -8.10176423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.377719421 meters 0.054863412094484594 Centerline is valid? [True, True] Translation: X:78.05, Y:-10.78, Z:-8.10 [[ 9.55966993e-01 2.85702432e-01 6.70911992e-02 7.80458824e+01] [-2.85120456e-01 9.58316987e-01 -1.82996962e-02 -1.07792570e+01] [-6.95229035e-02 -1.63516772e-03 9.97579015e-01 -8.09595837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.407719421 meters 0.05537602273593074 Centerline is valid? [True, True] Translation: X:78.07, Y:-10.79, Z:-8.10 [[ 9.55107188e-01 2.87938769e-01 6.97246429e-02 7.80719944e+01] [-2.87318237e-01 9.57646943e-01 -1.89885245e-02 -1.07882136e+01] [-7.22391234e-02 -1.89708527e-03 9.97385537e-01 -8.09607524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.437719421 meters 0.05559698573039173 Centerline is valid? [True, True] Translation: X:78.10, Y:-10.80, Z:-8.10 [[ 9.54721188e-01 2.89092649e-01 7.02345586e-02 7.80990932e+01] [-2.88466263e-01 9.57299032e-01 -1.91253304e-02 -1.07977298e+01] [-7.27644674e-02 -2.00094245e-03 9.97347145e-01 -8.09735635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.467719421 meters 0.05721617633129875 Centerline is valid? [True, True] Translation: X:78.12, Y:-10.81, Z:-8.10 [[ 9.54288772e-01 2.91246240e-01 6.71458736e-02 7.81245954e+01] [-2.90681022e-01 9.56645825e-01 -1.82567215e-02 -1.08098340e+01] [-6.95520212e-02 -2.09584686e-03 9.97576124e-01 -8.10469763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.497719421 meters 0.0569326829258695 Centerline is valid? [True, True] Translation: X:78.15, Y:-10.82, Z:-8.11 [[ 9.54718544e-01 2.90285903e-01 6.51659145e-02 7.81506759e+01] [-2.89751198e-01 9.56937948e-01 -1.77202195e-02 -1.08210555e+01] [-6.75036665e-02 -1.96407969e-03 9.97717093e-01 -8.10929093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.527719421 meters 0.05640934021527693 Centerline is valid? [True, True] Translation: X:78.18, Y:-10.83, Z:-8.11 [[ 9.55406242e-01 2.87696698e-01 6.65546576e-02 7.81760843e+01] [-2.87134613e-01 9.57719793e-01 -1.80696704e-02 -1.08333366e+01] [-6.89392974e-02 -1.84626991e-03 9.97619148e-01 -8.11329776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.557719421 meters 0.05551230808891987 Centerline is valid? [True, True] Translation: X:78.20, Y:-10.85, Z:-8.12 [[ 9.56029679e-01 2.85362358e-01 6.76430186e-02 7.82027775e+01] [-2.84776040e-01 9.58418181e-01 -1.83629583e-02 -1.08460980e+01] [-7.00703959e-02 -1.70757789e-03 9.97540588e-01 -8.11568427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.587719421 meters 0.05413777526127517 Centerline is valid? [True, True] Translation: X:78.23, Y:-10.87, Z:-8.12 [[ 9.57898733e-01 2.79533068e-01 6.55078673e-02 7.82254304e+01] [-2.78971256e-01 9.60135234e-01 -1.77586991e-02 -1.08692821e+01] [-6.78605552e-02 -1.26377666e-03 9.97694015e-01 -8.12166106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.617719421 meters 0.051524743731648115 Centerline is valid? [True, True] Translation: X:78.25, Y:-10.89, Z:-8.12 [[ 9.59935052e-01 2.72459690e-01 6.55012509e-02 7.82496121e+01] [-2.71881941e-01 9.62166891e-01 -1.77506175e-02 -1.08931147e+01] [-6.78594626e-02 -7.69167261e-04 9.97694593e-01 -8.11959222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64771942099999 meters 0.05184984166945697 Centerline is valid? [True, True] Translation: X:78.27, Y:-10.90, Z:-8.13 [[ 9.61190130e-01 2.67987444e-01 6.55458961e-02 7.82741811e+01] [-2.67398716e-01 9.63422297e-01 -1.77596479e-02 -1.09044567e+01] [-6.79077404e-02 -4.56490221e-04 9.97691501e-01 -8.12803099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67771942099999 meters 0.05056618395480504 Centerline is valid? [True, True] Translation: X:78.30, Y:-10.92, Z:-8.12 [[ 9.62390032e-01 2.63468949e-01 6.62535919e-02 7.83012914e+01] [-2.62857363e-01 9.64667866e-01 -1.79420157e-02 -1.09187670e+01] [-6.86398751e-02 -1.48027380e-04 9.97641492e-01 -8.12352958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.707719421 meters 0.05140024781358377 Centerline is valid? [True, True] Translation: X:78.33, Y:-10.94, Z:-8.13 [[ 9.64651256e-01 2.54388123e-01 6.88087021e-02 7.83268123e+01] [-2.53705847e-01 9.67102074e-01 -1.86258113e-02 -1.09396219e+01] [-7.12832237e-02 5.10242187e-04 9.97455985e-01 -8.12990669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.737719421 meters 0.05110666639300531 Centerline is valid? [True, True] Translation: X:78.36, Y:-10.95, Z:-8.13 [[ 9.65497094e-01 2.50478791e-01 7.12441997e-02 7.83561532e+01] [-2.49736483e-01 9.68121732e-01 -1.92873473e-02 -1.09519560e+01] [-7.38041294e-02 8.29601861e-04 9.97272411e-01 -8.12598316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.767719421 meters 0.05263275138311254 Centerline is valid? [True, True] Translation: X:78.38, Y:-10.97, Z:-8.13 [[ 9.66720094e-01 2.44679020e-01 7.47290913e-02 7.83835104e+01] [-2.43845148e-01 9.69603220e-01 -2.02272148e-02 -1.09691982e+01] [-7.74067426e-02 1.33172871e-03 9.96998707e-01 -8.12756838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.797719421 meters 0.05236097730908555 Centerline is valid? [True, True] Translation: X:78.41, Y:-10.98, Z:-8.13 [[ 9.67256997e-01 2.42625796e-01 7.44756715e-02 7.84143262e+01] [-2.41790708e-01 9.70118792e-01 -2.01688728e-02 -1.09778220e+01] [-7.71437373e-02 1.50095799e-03 9.97018852e-01 -8.12622436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.827719421 meters 0.05247303701008905 Centerline is valid? [True, True] Translation: X:78.45, Y:-10.99, Z:-8.13 [[ 9.67271426e-01 2.42944119e-01 7.32403153e-02 7.84456485e+01] [-2.42135882e-01 9.70039170e-01 -1.98550640e-02 -1.09850153e+01] [-7.58696457e-02 1.47112769e-03 9.97116660e-01 -8.13113681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.857719421 meters 0.05306533136498308 Centerline is valid? [True, True] Translation: X:78.48, Y:-10.99, Z:-8.14 [[ 9.67069257e-01 2.44024383e-01 7.23128828e-02 7.84770420e+01] [-2.43237871e-01 9.69768100e-01 -1.96257569e-02 -1.09901303e+01] [-7.49158902e-02 1.39023443e-03 9.97188887e-01 -8.13849189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.887719421 meters 0.05197608733138549 Centerline is valid? [True, True] Translation: X:78.51, Y:-10.99, Z:-8.14 [[ 9.66655030e-01 2.45848468e-01 7.16699631e-02 7.85089606e+01] [-2.45079078e-01 9.69307453e-01 -1.94757932e-02 -1.09946775e+01] [-7.42583233e-02 1.26156502e-03 9.97238241e-01 -8.14002259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.917719421 meters 0.05216073426246318 Centerline is valid? [True, True] Translation: X:78.54, Y:-11.00, Z:-8.15 [[ 9.66205424e-01 2.47877271e-01 7.07385139e-02 7.85384666e+01] [-2.47131480e-01 9.68790802e-01 -1.92461436e-02 -1.10022458e+01] [-7.33015032e-02 1.11401467e-03 9.97309204e-01 -8.14627112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.947719421 meters 0.0514442672963734 Centerline is valid? [True, True] Translation: X:78.57, Y:-11.00, Z:-8.15 [[ 9.65287149e-01 2.52234175e-01 6.78132847e-02 7.85692183e+01] [-2.51557536e-01 9.67665910e-01 -1.84795065e-02 -1.10017156e+01] [-7.02817670e-02 7.79087298e-04 9.97526875e-01 -8.15271885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.977719421 meters 0.05129489195551075 Centerline is valid? [True, True] Translation: X:78.60, Y:-11.00, Z:-8.16 [[ 9.64703443e-01 2.54625681e-01 6.71790862e-02 7.85986404e+01] [-2.53967498e-01 9.67039505e-01 -1.83058815e-02 -1.10043164e+01] [-6.96259778e-02 5.98442434e-04 9.97572987e-01 -8.15679222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.007719421 meters 0.05113707042540341 Centerline is valid? [True, True] Translation: X:78.63, Y:-11.00, Z:-8.16 [[ 9.63495936e-01 2.59491292e-01 6.58775479e-02 7.86272758e+01] [-2.58869789e-01 9.65745417e-01 -1.79505200e-02 -1.10025121e+01] [-6.82789436e-02 2.41546201e-04 9.97666241e-01 -8.16083572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03771942099999 meters 0.051403181465094164 Centerline is valid? [True, True] Translation: X:78.66, Y:-11.00, Z:-8.17 [[ 9.62679176e-01 2.63021707e-01 6.37838972e-02 7.86559478e+01] [-2.62447318e-01 9.64789916e-01 -1.73730817e-02 -1.10008834e+01] [-6.61075584e-02 -1.52087890e-05 9.97812503e-01 -8.16704193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06771942099999 meters 0.051481867501124906 Centerline is valid? [True, True] Translation: X:78.68, Y:-11.00, Z:-8.17 [[ 9.62393198e-01 2.64170279e-01 6.33513662e-02 7.86845223e+01] [-2.63606664e-01 9.64476051e-01 -1.72474187e-02 -1.10034225e+01] [-6.56571310e-02 -1.01043800e-04 9.97842238e-01 -8.17042717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.097719421 meters 0.05185128090130446 Centerline is valid? [True, True] Translation: X:78.71, Y:-11.01, Z:-8.18 [[ 9.62292355e-01 2.64722405e-01 6.25737299e-02 7.87117231e+01] [-2.64174025e-01 9.64324649e-01 -1.70310415e-02 -1.10074552e+01] [-6.48498884e-02 -1.41513023e-04 9.97895021e-01 -8.17610781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.127719421 meters 0.051730244297829964 Centerline is valid? [True, True] Translation: X:78.74, Y:-11.01, Z:-8.18 [[ 9.62353808e-01 2.64594955e-01 6.21663704e-02 7.87398863e+01] [-2.64053918e-01 9.64359627e-01 -1.69126632e-02 -1.10147328e+01] [-6.44257431e-02 -1.39307838e-04 9.97922494e-01 -8.17876359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.157719421 meters 0.051508742201024145 Centerline is valid? [True, True] Translation: X:78.77, Y:-11.02, Z:-8.18 [[ 9.61925845e-01 2.65706975e-01 6.40193128e-02 7.87700205e+01] [-2.65136073e-01 9.64053812e-01 -1.74100663e-02 -1.10161253e+01] [-6.63440386e-02 -2.26636492e-04 9.97796782e-01 -8.17972241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.187719421 meters 0.05239718588858171 Centerline is valid? [True, True] Translation: X:78.80, Y:-11.01, Z:-8.18 [[ 9.60358087e-01 2.71303761e-01 6.40828666e-02 7.87996347e+01] [-2.70744331e-01 9.62493579e-01 -1.74246311e-02 -1.10130628e+01] [-6.64067156e-02 -6.16187447e-04 9.97792448e-01 -8.18469577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.217719421 meters 0.05292382703678537 Centerline is valid? [True, True] Translation: X:78.83, Y:-11.02, Z:-8.19 [[ 9.59207916e-01 2.75251543e-01 6.44729580e-02 7.88289236e+01] [-2.74694693e-01 9.61371819e-01 -1.75228969e-02 -1.10151666e+01] [-6.68056894e-02 -9.02277949e-04 9.97765597e-01 -8.18702575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.247719421 meters 0.055707203571963765 Centerline is valid? [True, True] Translation: X:78.86, Y:-11.01, Z:-8.19 [[ 9.56478626e-01 2.84965909e-01 6.27938562e-02 7.88609554e+01] [-2.84459036e-01 9.58536406e-01 -1.70591673e-02 -1.10109122e+01] [-6.50514784e-02 -1.54555092e-03 9.97880713e-01 -8.18968526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.277719421 meters 0.05697627195445015 Centerline is valid? [True, True] Translation: X:78.89, Y:-11.02, Z:-8.19 [[ 9.55188172e-01 2.89293127e-01 6.26501662e-02 7.88899018e+01] [-2.88797882e-01 9.57238797e-01 -1.70196538e-02 -1.10150392e+01] [-6.48948386e-02 -1.83626328e-03 9.97890419e-01 -8.19164827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.307719421 meters 0.05904660692891173 Centerline is valid? [True, True] Translation: X:78.92, Y:-11.02, Z:-8.19 [[ 9.53081812e-01 2.95822257e-01 6.42203441e-02 7.89193802e+01] [-2.95316969e-01 9.55240129e-01 -1.74408812e-02 -1.10201721e+01] [-6.65052506e-02 -2.34277066e-03 9.97783325e-01 -8.19208324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.337719421 meters 0.05974291837285778 Centerline is valid? [True, True] Translation: X:78.95, Y:-11.03, Z:-8.19 [[ 9.52454154e-01 2.97416801e-01 6.61387305e-02 7.89462554e+01] [-2.96884184e-01 9.54744412e-01 -1.79691236e-02 -1.10272164e+01] [-6.84899026e-02 -2.52077660e-03 9.97648625e-01 -8.19373799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.367719421 meters 0.05931484305224946 Centerline is valid? [True, True] Translation: X:78.97, Y:-11.04, Z:-8.19 [[ 9.52488882e-01 2.96390970e-01 7.01236214e-02 7.89725833e+01] [-2.95792060e-01 9.55063074e-01 -1.90153118e-02 -1.10402396e+01] [-7.26084481e-02 -2.63013739e-03 9.97357055e-01 -8.19394576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39771942099999 meters 0.0566460481561748 Centerline is valid? [True, True] Translation: X:79.00, Y:-11.06, Z:-8.20 [[ 9.53429979e-01 2.93476660e-01 6.95896956e-02 7.89977102e+01] [-2.92879374e-01 9.55963243e-01 -1.88666510e-02 -1.10575786e+01] [-7.20621128e-02 -2.39335581e-03 9.97397275e-01 -8.19525274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42771942099999 meters 0.05542910349133807 Centerline is valid? [True, True] Translation: X:79.02, Y:-11.08, Z:-8.20 [[ 9.55880961e-01 2.85405714e-01 6.95353579e-02 7.90216989e+01] [-2.84788576e-01 9.58405119e-01 -1.88439322e-02 -1.10768343e+01] [-7.20212089e-02 -1.79031958e-03 9.97401494e-01 -8.20345732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.457719421 meters 0.05319459459694445 Centerline is valid? [True, True] Translation: X:79.05, Y:-11.09, Z:-8.20 [[ 9.57298883e-01 2.80382826e-01 7.04579339e-02 7.90480120e+01] [-2.79735837e-01 9.59887188e-01 -1.90905186e-02 -1.10938565e+01] [-7.29843216e-02 -1.43427695e-03 9.97332057e-01 -8.20452618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.487719421 meters 0.050775026651915335 Centerline is valid? [True, True] Translation: X:79.07, Y:-11.12, Z:-8.20 [[ 9.59683166e-01 2.71880028e-01 7.13405351e-02 7.90723876e+01] [-2.71193433e-01 9.62330822e-01 -1.93264291e-02 -1.11188097e+01] [-7.39076658e-02 -7.99836002e-04 9.97264768e-01 -8.20407372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.517719421 meters 0.05003542512263675 Centerline is valid? [True, True] Translation: X:79.10, Y:-11.13, Z:-8.20 [[ 9.60625880e-01 2.68241702e-01 7.24175892e-02 7.90980500e+01] [-2.67524017e-01 9.63351498e-01 -1.96161039e-02 -1.11345564e+01] [-7.50254502e-02 -5.29707246e-04 9.97181479e-01 -8.20441805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.547719421 meters 0.049819012327342066 Centerline is valid? [True, True] Translation: X:79.12, Y:-11.15, Z:-8.21 [[ 9.62143641e-01 2.62641267e-01 7.27954603e-02 7.91226349e+01] [-2.61900807e-01 9.64893546e-01 -1.97082004e-02 -1.11539558e+01] [-7.54160565e-02 -1.03070095e-04 9.97152149e-01 -8.20868793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.577719421 meters 0.049838523012719134 Centerline is valid? [True, True] Translation: X:79.15, Y:-11.16, Z:-8.21 [[ 9.62703457e-01 2.60586656e-01 7.27780743e-02 7.91501520e+01] [-2.59840356e-01 9.65450460e-01 -1.97078348e-02 -1.11640068e+01] [-7.53992240e-02 6.21200227e-05 9.97153425e-01 -8.21208733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.607719421 meters 0.04974986912516526 Centerline is valid? [True, True] Translation: X:79.18, Y:-11.17, Z:-8.21 [[ 9.63299162e-01 2.58174350e-01 7.34896597e-02 7.91796594e+01] [-2.57406696e-01 9.66098309e-01 -1.98959808e-02 -1.11732222e+01] [-7.61348679e-02 2.49051139e-04 9.97097498e-01 -8.21400826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.637719421 meters 0.049873663301554204 Centerline is valid? [True, True] Translation: X:79.21, Y:-11.18, Z:-8.22 [[ 9.63607549e-01 2.56902052e-01 7.39041781e-02 7.92084842e+01] [-2.56121963e-01 9.66437381e-01 -2.00082041e-02 -1.11818988e+01] [-7.65639091e-02 3.51573338e-04 9.97064614e-01 -8.21750919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.667719421 meters 0.05048164019478519 Centerline is valid? [True, True] Translation: X:79.24, Y:-11.20, Z:-8.22 [[ 9.64463442e-01 2.54325234e-01 7.16166514e-02 7.92364288e+01] [-2.53586259e-01 9.67118604e-01 -1.93808011e-02 -1.11960230e+01] [-7.41908226e-02 5.31075393e-04 9.97243922e-01 -8.22316013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.697719421 meters 0.05071884682038995 Centerline is valid? [True, True] Translation: X:79.27, Y:-11.21, Z:-8.23 [[ 9.64987754e-01 2.52403564e-01 7.13517678e-02 7.92661106e+01] [-2.51663289e-01 9.67621804e-01 -1.93295816e-02 -1.12088065e+01] [-7.39203816e-02 6.96188975e-04 9.97263903e-01 -8.22632224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.727719421 meters 0.051613891214048586 Centerline is valid? [True, True] Translation: X:79.30, Y:-11.22, Z:-8.23 [[ 9.66214404e-01 2.47733464e-01 7.11186030e-02 7.92951362e+01] [-2.46983700e-01 9.68827632e-01 -1.92891410e-02 -1.12235130e+01] [-7.36802335e-02 1.07231020e-03 9.97281341e-01 -8.23055117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.757719421 meters 0.05230007286400717 Centerline is valid? [True, True] Translation: X:79.33, Y:-11.23, Z:-8.24 [[ 9.66872302e-01 2.45438006e-01 7.01294297e-02 7.93252073e+01] [-2.44701304e-01 9.69411480e-01 -1.90434686e-02 -1.12342906e+01] [-7.26582652e-02 1.25183949e-03 9.97356110e-01 -8.23552906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78771942099999 meters 0.05412853858608982 Centerline is valid? [True, True] Translation: X:79.35, Y:-11.25, Z:-8.24 [[ 9.68157173e-01 2.40506351e-01 6.94865623e-02 7.93530469e+01] [-2.39768755e-01 9.70646197e-01 -1.88919351e-02 -1.12492879e+01] [-7.19904978e-02 1.62965604e-03 9.97403987e-01 -8.24101176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81771942099999 meters 0.056115298440600286 Centerline is valid? [True, True] Translation: X:79.38, Y:-11.26, Z:-8.25 [[ 9.69232247e-01 2.36821640e-01 6.71145491e-02 7.93808556e+01] [-2.36122854e-01 9.71551353e-01 -1.82747406e-02 -1.12638226e+01] [-6.95330851e-02 1.86518904e-03 9.97577902e-01 -8.24688358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.847719421 meters 0.05617327723205663 Centerline is valid? [True, True] Translation: X:79.41, Y:-11.27, Z:-8.25 [[ 9.69562192e-01 2.36070120e-01 6.49619433e-02 7.94117307e+01] [-2.35413880e-01 9.71734250e-01 -1.76876327e-02 -1.12724089e+01] [-6.73012668e-02 1.85631682e-03 9.97730973e-01 -8.25014940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.877719421 meters 0.05528177139733709 Centerline is valid? [True, True] Translation: X:79.44, Y:-11.28, Z:-8.25 [[ 9.68520286e-01 2.40337011e-01 6.48581215e-02 7.94427034e+01] [-2.39692471e-01 9.70688260e-01 -1.76584693e-02 -1.12759191e+01] [-6.72010009e-02 1.55658239e-03 9.97738243e-01 -8.25332423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.907719421 meters 0.053862027696864885 Centerline is valid? [True, True] Translation: X:79.48, Y:-11.28, Z:-8.25 [[ 9.67478717e-01 2.44028759e-01 6.65950203e-02 7.94750167e+01] [-2.43355977e-01 9.69767038e-01 -1.81592977e-02 -1.12775144e+01] [-6.90130465e-02 1.36243787e-03 9.97614827e-01 -8.25483772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.937719421 meters 0.051542468410263595 Centerline is valid? [True, True] Translation: X:79.51, Y:-11.27, Z:-8.25 [[ 9.65288671e-01 2.51450837e-01 7.06417637e-02 7.95090892e+01] [-2.50713032e-01 9.67869664e-01 -1.92688852e-02 -1.12724351e+01] [-7.32171974e-02 8.89225797e-04 9.97315623e-01 -8.25396720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.967719421 meters 0.05052221722004441 Centerline is valid? [True, True] Translation: X:79.54, Y:-11.27, Z:-8.26 [[ 9.63944031e-01 2.56073281e-01 7.23766596e-02 7.95398948e+01] [-2.55311345e-01 9.66657212e-01 -1.97472054e-02 -1.12722473e+01] [-7.50201517e-02 5.56618490e-04 9.97181863e-01 -8.25508059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.997719421 meters 0.05012193937647099 Centerline is valid? [True, True] Translation: X:79.57, Y:-11.27, Z:-8.26 [[ 9.62665059e-01 2.60864001e-01 7.22907779e-02 7.95715169e+01] [-2.60117631e-01 9.65375544e-01 -1.97199676e-02 -1.12708445e+01] [-7.49319787e-02 1.79617803e-04 9.97188631e-01 -8.25681462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.027719421 meters 0.05134535753774437 Centerline is valid? [True, True] Translation: X:79.60, Y:-11.26, Z:-8.27 [[ 9.60443324e-01 2.69941500e-01 6.84120441e-02 7.96033981e+01] [-2.69296117e-01 9.62876595e-01 -1.86618275e-02 -1.12605074e+01] [-7.09099578e-02 -4.99470255e-04 9.97482596e-01 -8.26680195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.057719421 meters 0.05376865069509318 Centerline is valid? [True, True] Translation: X:79.64, Y:-11.25, Z:-8.27 [[ 9.57714189e-01 2.79994215e-01 6.62327108e-02 7.96365224e+01] [-2.79413683e-01 9.60000926e-01 -1.80614272e-02 -1.12518595e+01] [-6.86405588e-02 -1.20864057e-03 9.97640723e-01 -8.27263286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.087719421 meters 0.055315251952172954 Centerline is valid? [True, True] Translation: X:79.67, Y:-11.25, Z:-8.28 [[ 9.56379006e-01 2.84363960e-01 6.69054145e-02 7.96654044e+01] [-2.83782138e-01 9.58715170e-01 -1.82461139e-02 -1.12513496e+01] [-6.93317731e-02 -1.53636125e-03 9.97592474e-01 -8.27589054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.117719421 meters 0.055854074387401066 Centerline is valid? [True, True] Translation: X:79.70, Y:-11.25, Z:-8.27 [[ 9.53756607e-01 2.92660337e-01 6.85438659e-02 7.96972930e+01] [-2.92071635e-01 9.56213933e-01 -1.86835243e-02 -1.12494617e+01] [-7.10105262e-02 -2.20018422e-03 9.97473140e-01 -8.27144032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14771942099999 meters 0.055854074387401066 Centerline is valid? [True, True] Translation: X:79.72, Y:-11.26, Z:-8.27 [[ 9.53795755e-01 2.92532702e-01 6.85439717e-02 7.97237466e+01] [-2.91943698e-01 9.56253009e-01 -1.86831372e-02 -1.12565003e+01] [-7.10108078e-02 -2.19108361e-03 9.97473140e-01 -8.27425820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17771942099999 meters 0.05992148978239579 Centerline is valid? [True, True] Translation: X:79.75, Y:-11.25, Z:-8.28 [[ 9.52989640e-01 2.94826986e-01 6.99127578e-02 7.97530855e+01] [-2.94221161e-01 9.55547587e-01 -1.90451231e-02 -1.12517369e+01] [-7.24199833e-02 -2.42000776e-03 9.97371290e-01 -8.28161899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.207719421 meters 0.061384750384747715 Centerline is valid? [True, True] Translation: X:79.78, Y:-11.25, Z:-8.28 [[ 9.52252776e-01 2.97055580e-01 7.05168943e-02 7.97808979e+01] [-2.96445807e-01 9.54856600e-01 -1.92030399e-02 -1.12528339e+01] [-7.30378921e-02 -2.61828951e-03 9.97325730e-01 -8.28458096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.237719421 meters 0.057754729633214485 Centerline is valid? [True, True] Translation: X:79.81, Y:-11.27, Z:-8.28 [[ 9.52428208e-01 2.96529420e-01 7.03620085e-02 7.98058548e+01] [-2.95922026e-01 9.55020214e-01 -1.91453524e-02 -1.12709805e+01] [-7.28743006e-02 -2.58709447e-03 9.97337778e-01 -8.28133176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.267719421 meters 0.05713021081528622 Centerline is valid? [True, True] Translation: X:79.83, Y:-11.28, Z:-8.28 [[ 9.53037725e-01 2.94363432e-01 7.11987638e-02 7.98318909e+01] [-2.93735965e-01 9.55690396e-01 -1.93661924e-02 -1.12820932e+01] [-7.37446737e-02 -2.45692563e-03 9.97274128e-01 -8.28401664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.297719421 meters 0.05576199844319645 Centerline is valid? [True, True] Translation: X:79.86, Y:-11.30, Z:-8.29 [[ 9.53912081e-01 2.91109523e-01 7.28490783e-02 7.98587624e+01] [-2.90443754e-01 9.56687053e-01 -1.98067839e-02 -1.12954794e+01] [-7.54597134e-02 -2.26462930e-03 9.97146280e-01 -8.28645105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.327719421 meters 0.05323722567167791 Centerline is valid? [True, True] Translation: X:79.89, Y:-11.31, Z:-8.29 [[ 9.56239914e-01 2.83018348e-01 7.42013513e-02 7.98850847e+01] [-2.82303441e-01 9.59113062e-01 -2.01718167e-02 -1.13138207e+01] [-7.68764795e-02 -1.65820056e-03 9.97039246e-01 -8.29005664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.357719421 meters 0.052192851619151076 Centerline is valid? [True, True] Translation: X:79.91, Y:-11.33, Z:-8.29 [[ 9.57618871e-01 2.78665985e-01 7.28791214e-02 7.99108854e+01] [-2.77964181e-01 9.60387215e-01 -1.98068325e-02 -1.13272958e+01] [-7.55116670e-02 -1.29038874e-03 9.97144083e-01 -8.29453640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.387719421 meters 0.05264259536520965 Centerline is valid? [True, True] Translation: X:79.93, Y:-11.34, Z:-8.31 [[ 9.59437289e-01 2.73037941e-01 7.02165985e-02 7.99349558e+01] [-2.72371769e-01 9.62002916e-01 -1.90790106e-02 -1.13389785e+01] [-7.27578663e-02 -8.19904915e-04 9.97349297e-01 -8.30692567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.417719421 meters 0.05160633276831311 Centerline is valid? [True, True] Translation: X:79.96, Y:-11.35, Z:-8.30 [[ 9.59821087e-01 2.71876615e-01 6.94736487e-02 7.99619556e+01] [-2.71222378e-01 9.62331837e-01 -1.88642027e-02 -1.13506013e+01] [-7.19854395e-02 -7.36548637e-04 9.97405411e-01 -8.30460353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.447719421 meters 0.051905402532801764 Centerline is valid? [True, True] Translation: X:79.99, Y:-11.36, Z:-8.31 [[ 9.59499422e-01 2.73254834e-01 6.85029542e-02 7.99888121e+01] [-2.72622666e-01 9.61941319e-01 -1.85951822e-02 -1.13588638e+01] [-7.09770455e-02 -8.33391366e-04 9.97477601e-01 -8.30826223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.477719421 meters 0.05216369127375741 Centerline is valid? [True, True] Translation: X:80.02, Y:-11.36, Z:-8.31 [[ 9.58545031e-01 2.75702301e-01 7.19698816e-02 8.00164622e+01] [-2.75011974e-01 9.61242470e-01 -1.95276087e-02 -1.13621547e+01] [-7.45643134e-02 -1.07448694e-03 9.97215628e-01 -8.30898754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.507719421 meters 0.052079285238207235 Centerline is valid? [True, True] Translation: X:80.04, Y:-11.37, Z:-8.31 [[ 9.58406858e-01 2.76051877e-01 7.24683131e-02 8.00445691e+01] [-2.75353597e-01 9.61142087e-01 -1.96541223e-02 -1.13675522e+01] [-7.50779031e-02 -1.11776509e-03 9.97177045e-01 -8.31026277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53771942099999 meters 0.05291671030091541 Centerline is valid? [True, True] Translation: X:80.07, Y:-11.37, Z:-8.31 [[ 9.57974227e-01 2.77804503e-01 7.14845324e-02 8.00720428e+01] [-2.77130364e-01 9.60636826e-01 -1.93816708e-02 -1.13720571e+01] [-7.40549898e-02 -1.24339340e-03 9.97253384e-01 -8.31473843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56771942099999 meters 0.053474237374806805 Centerline is valid? [True, True] Translation: X:80.10, Y:-11.38, Z:-8.32 [[ 9.57703636e-01 2.78904026e-01 7.08257657e-02 8.00983596e+01] [-2.78245730e-01 9.60318070e-01 -1.91968128e-02 -1.13787594e+01] [-7.33693310e-02 -1.32210948e-03 9.97303962e-01 -8.31961479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.597719421 meters 0.05388611434391651 Centerline is valid? [True, True] Translation: X:80.13, Y:-11.39, Z:-8.32 [[ 9.57491254e-01 2.79900402e-01 6.97586045e-02 8.01255584e+01] [-2.79265383e-01 9.60028038e-01 -1.88947627e-02 -1.13862810e+01] [-7.22588679e-02 -1.38959332e-03 9.97384943e-01 -8.32372950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.627719421 meters 0.0552308814158895 Centerline is valid? [True, True] Translation: X:80.15, Y:-11.39, Z:-8.33 [[ 9.57094350e-01 2.81798517e-01 6.75277826e-02 8.01538548e+01] [-2.81208660e-01 9.59472447e-01 -1.82842280e-02 -1.13892796e+01] [-6.99435152e-02 -1.48966589e-03 9.97549841e-01 -8.33256824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.657719421 meters 0.055966951704405715 Centerline is valid? [True, True] Translation: X:80.18, Y:-11.40, Z:-8.34 [[ 9.57021144e-01 2.82306825e-01 6.64333237e-02 8.01801595e+01] [-2.81737194e-01 9.59322990e-01 -1.79876004e-02 -1.13954635e+01] [-6.88090371e-02 -1.50222428e-03 9.97628718e-01 -8.33718247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.687719421 meters 0.05605008335012687 Centerline is valid? [True, True] Translation: X:80.21, Y:-11.40, Z:-8.34 [[ 9.57062696e-01 2.82294605e-01 6.58843856e-02 8.02068732e+01] [-2.81735218e-01 9.59326588e-01 -1.78259758e-02 -1.14046588e+01] [-6.82368197e-02 -1.50137523e-03 9.97668022e-01 -8.33982677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.717719421 meters 0.054931356621731285 Centerline is valid? [True, True] Translation: X:80.23, Y:-11.42, Z:-8.34 [[ 9.57483422e-01 2.80757522e-01 6.63378579e-02 8.02330723e+01] [-2.80187595e-01 9.59777691e-01 -1.79358868e-02 -1.14200553e+01] [-6.87052312e-02 -1.41373059e-03 9.97636002e-01 -8.33962508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.747719421 meters 0.053756881842619265 Centerline is valid? [True, True] Translation: X:80.26, Y:-11.43, Z:-8.34 [[ 9.57649261e-01 2.80093019e-01 6.67517372e-02 8.02597760e+01] [-2.79514730e-01 9.59971873e-01 -1.80421619e-02 -1.14321248e+01] [-6.91332737e-02 -1.38003081e-03 9.97606479e-01 -8.33877703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.777719421 meters 0.053773750862671756 Centerline is valid? [True, True] Translation: X:80.29, Y:-11.44, Z:-8.34 [[ 9.57541030e-01 2.79550487e-01 7.04748203e-02 8.02866560e+01] [-2.78904810e-01 9.60129941e-01 -1.90421696e-02 -1.14395448e+01] [-7.29882328e-02 -1.42210767e-03 9.97331788e-01 -8.34065719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.807719421 meters 0.05383082773901332 Centerline is valid? [True, True] Translation: X:80.31, Y:-11.45, Z:-8.34 [[ 9.57298689e-01 2.79996780e-01 7.19793290e-02 8.03144414e+01] [-2.79325136e-01 9.59999774e-01 -1.94397285e-02 -1.14470314e+01] [-7.45432009e-02 -1.49600929e-03 9.97216663e-01 -8.34237009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.837719421 meters 0.05444086845823728 Centerline is valid? [True, True] Translation: X:80.34, Y:-11.46, Z:-8.35 [[ 9.56541399e-01 2.82690725e-01 7.15157689e-02 8.03418496e+01] [-2.82035667e-01 9.59209603e-01 -1.93085523e-02 -1.14554599e+01] [-7.40569610e-02 -1.70056804e-03 9.97252563e-01 -8.34533223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.867719421 meters 0.0552829052309728 Centerline is valid? [True, True] Translation: X:80.37, Y:-11.46, Z:-8.35 [[ 9.56054469e-01 2.84445663e-01 7.10669870e-02 8.03699192e+01] [-2.83804108e-01 9.58690415e-01 -1.91811237e-02 -1.14625273e+01] [-7.35872267e-02 -1.83090386e-03 9.97287104e-01 -8.34956175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89771942099999 meters 0.055151571435362555 Centerline is valid? [True, True] Translation: X:80.40, Y:-11.47, Z:-8.35 [[ 9.55205039e-01 2.86762489e-01 7.31478539e-02 8.03969446e+01] [-2.86089915e-01 9.57999466e-01 -1.97378611e-02 -1.14721698e+01] [-7.57356831e-02 -2.07315897e-03 9.97125774e-01 -8.34837346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92771942099999 meters 0.05550107670527113 Centerline is valid? [True, True] Translation: X:80.43, Y:-11.48, Z:-8.35 [[ 9.54241728e-01 2.88895673e-01 7.72140840e-02 8.04258762e+01] [-2.88154272e-01 9.57357623e-01 -2.08206152e-02 -1.14768960e+01] [-7.99364775e-02 -2.38166837e-03 9.96797114e-01 -8.34652470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.957719421 meters 0.05578097246075446 Centerline is valid? [True, True] Translation: X:80.45, Y:-11.48, Z:-8.35 [[ 9.53785715e-01 2.90039573e-01 7.85484353e-02 8.04539924e+01] [-2.89276756e-01 9.57011315e-01 -2.11731302e-02 -1.14826289e+01] [-8.13127870e-02 -2.52760741e-03 9.96685428e-01 -8.34819375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.987719421 meters 0.05639480283897877 Centerline is valid? [True, True] Translation: X:80.48, Y:-11.49, Z:-8.35 [[ 9.53472194e-01 2.90957444e-01 7.89591149e-02 8.04820550e+01] [-2.90190350e-01 9.56732391e-01 -2.12765955e-02 -1.14891857e+01] [-8.17333266e-02 -2.62653103e-03 9.96650774e-01 -8.35098103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.017719421 meters 0.05728066013920229 Centerline is valid? [True, True] Translation: X:80.51, Y:-11.50, Z:-8.36 [[ 9.52672912e-01 2.94309113e-01 7.61345511e-02 8.05099060e+01] [-2.93607240e-01 9.55706134e-01 -2.05079093e-02 -1.14995438e+01] [-7.87979220e-02 -2.81632574e-03 9.96886631e-01 -8.35560510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.047719421 meters 0.06109820081884757 Centerline is valid? [True, True] Translation: X:80.54, Y:-11.50, Z:-8.37 [[ 9.51341545e-01 2.99217781e-01 7.36069537e-02 8.05379461e+01] [-2.98576660e-01 9.54179751e-01 -1.98237600e-02 -1.15034660e+01] [-7.61658863e-02 -3.11815188e-03 9.97090284e-01 -8.36578478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.077719421 meters 0.06246187862893035 Centerline is valid? [True, True] Translation: X:80.57, Y:-11.51, Z:-8.37 [[ 9.50676910e-01 3.01678015e-01 7.21372861e-02 8.05666414e+01] [-3.01069563e-01 9.53404322e-01 -1.94246541e-02 -1.15091504e+01] [-7.46359915e-02 -3.25177105e-03 9.97205543e-01 -8.37018628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.107719421 meters 0.06299174359651445 Centerline is valid? [True, True] Translation: X:80.59, Y:-11.52, Z:-8.37 [[ 9.50041908e-01 3.03633194e-01 7.22997654e-02 8.05941703e+01] [-3.03027782e-01 9.52782883e-01 -1.94664218e-02 -1.15163969e+01] [-7.47966308e-02 -3.41492101e-03 9.97192961e-01 -8.37337281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.137719421 meters 0.06435914922264062 Centerline is valid? [True, True] Translation: X:80.62, Y:-11.53, Z:-8.38 [[ 9.49544910e-01 3.05606748e-01 7.04909847e-02 8.06210270e+01] [-3.05037177e-01 9.52151436e-01 -1.89727093e-02 -1.15265352e+01] [-7.29162803e-02 -3.48693136e-03 9.97331969e-01 -8.37900992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.167719421 meters 0.06570397737381393 Centerline is valid? [True, True] Translation: X:80.65, Y:-11.54, Z:-8.38 [[ 9.48888223e-01 3.07773567e-01 6.99040135e-02 8.06467585e+01] [-3.07219684e-01 9.51452716e-01 -1.88094574e-02 -1.15437742e+01] [-7.22994173e-02 -3.62781630e-03 9.97376375e-01 -8.38431606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.197719421 meters 0.06481801612242707 Centerline is valid? [True, True] Translation: X:80.67, Y:-11.56, Z:-8.39 [[ 9.48652907e-01 3.08321363e-01 7.06795593e-02 8.06727544e+01] [-3.07756764e-01 9.51275016e-01 -1.90162521e-02 -1.15573914e+01] [-7.30988157e-02 -3.71228965e-03 9.97317794e-01 -8.38650146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.227719421 meters 0.06696970888609392 Centerline is valid? [True, True] Translation: X:80.70, Y:-11.57, Z:-8.39 [[ 9.48966449e-01 3.07891553e-01 6.83042514e-02 8.06986524e+01] [-3.07363552e-01 9.51414799e-01 -1.83719376e-02 -1.15660092e+01] [-7.06422400e-02 -3.55988493e-03 9.97495364e-01 -8.39442185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.257719421 meters 0.06666688707842963 Centerline is valid? [True, True] Translation: X:80.73, Y:-11.58, Z:-8.40 [[ 9.49094471e-01 3.07716530e-01 6.73069177e-02 8.07259882e+01] [-3.07203979e-01 9.51471633e-01 -1.80954840e-02 -1.15760096e+01] [-6.96089024e-02 -3.50262907e-03 9.97568209e-01 -8.39800808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28771942099999 meters 0.0663916532033531 Centerline is valid? [True, True] Translation: X:80.75, Y:-11.59, Z:-8.40 [[ 9.49557809e-01 3.06055430e-01 6.83376988e-02 8.07510055e+01] [-3.05523194e-01 9.52007484e-01 -1.83665128e-02 -1.15918699e+01] [-7.06791717e-02 -3.43868632e-03 9.97493173e-01 -8.39886740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31771942099999 meters 0.06197920013448435 Centerline is valid? [True, True] Translation: X:80.78, Y:-11.61, Z:-8.40 [[ 9.50692954e-01 3.01524004e-01 7.25684683e-02 8.07764970e+01] [-3.00911265e-01 9.53452864e-01 -1.94947701e-02 -1.16149894e+01] [-7.50687551e-02 -3.30312908e-03 9.97172889e-01 -8.39644842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.347719421 meters 0.059688894033518014 Centerline is valid? [True, True] Translation: X:80.80, Y:-11.63, Z:-8.40 [[ 9.51570069e-01 2.98178618e-01 7.48593025e-02 8.08041967e+01] [-2.97516191e-01 9.54504941e-01 -2.01105484e-02 -1.16285435e+01] [-7.74501097e-02 -3.13525857e-03 9.96991299e-01 -8.39673939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.377719421 meters 0.06103108949881156 Centerline is valid? [True, True] Translation: X:80.83, Y:-11.64, Z:-8.40 [[ 9.52743973e-01 2.93681821e-01 7.76524903e-02 8.08317103e+01] [-2.92954351e-01 9.55898903e-01 -2.08575117e-02 -1.16384380e+01] [-8.03534022e-02 -2.87676635e-03 9.96762286e-01 -8.40355439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.407719421 meters 0.0568007560237694 Centerline is valid? [True, True] Translation: X:80.86, Y:-11.66, Z:-8.40 [[ 9.53485270e-01 2.91416987e-01 7.70842372e-02 8.08597987e+01] [-2.90693291e-01 9.56592388e-01 -2.06981431e-02 -1.16589590e+01] [-7.97699851e-02 -2.67249602e-03 9.96809715e-01 -8.40344589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.437719421 meters 0.056958156812897176 Centerline is valid? [True, True] Translation: X:80.89, Y:-11.67, Z:-8.41 [[ 9.54451643e-01 2.88429759e-01 7.63566323e-02 8.08884065e+01] [-2.87708242e-01 9.57498107e-01 -2.05266176e-02 -1.16708398e+01] [-7.90318183e-02 -2.37676860e-03 9.96869261e-01 -8.40961806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.467719421 meters 0.058083176050319714 Centerline is valid? [True, True] Translation: X:80.92, Y:-11.68, Z:-8.41 [[ 9.54548634e-01 2.87965850e-01 7.68932670e-02 8.09173345e+01] [-2.87230333e-01 9.57637851e-01 -2.06998032e-02 -1.16763917e+01] [-7.95967394e-02 -2.32710980e-03 9.96824430e-01 -8.41416700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.497719421 meters 0.056803508318020675 Centerline is valid? [True, True] Translation: X:80.95, Y:-11.69, Z:-8.42 [[ 9.54973402e-01 2.86942121e-01 7.54322265e-02 8.09457159e+01] [-2.86231289e-01 9.57945393e-01 -2.03045198e-02 -1.16891420e+01] [-7.80861759e-02 -2.20078705e-03 9.96944184e-01 -8.41741000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.527719421 meters 0.055464594159078354 Centerline is valid? [True, True] Translation: X:80.98, Y:-11.70, Z:-8.42 [[ 9.55367739e-01 2.85989903e-01 7.40422767e-02 8.09760732e+01] [-2.85302853e-01 9.58230348e-01 -1.99218889e-02 -1.17033707e+01] [-7.66470156e-02 -2.09174285e-03 9.97056097e-01 -8.42106932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.557719421 meters 0.05452892427297059 Centerline is valid? [True, True] Translation: X:81.01, Y:-11.72, Z:-8.43 [[ 9.56360630e-01 2.83454587e-01 7.09072869e-02 8.10052555e+01] [-2.82815913e-01 9.58983997e-01 -1.91011105e-02 -1.17212299e+01] [-7.34132508e-02 -1.78615907e-03 9.97300007e-01 -8.42650641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.587719421 meters 0.054379695160546124 Centerline is valid? [True, True] Translation: X:81.03, Y:-11.73, Z:-8.43 [[ 9.56949793e-01 2.81468195e-01 7.08713550e-02 8.10338193e+01] [-2.80822783e-01 9.59569211e-01 -1.91178744e-02 -1.17327350e+01] [-7.33870438e-02 -1.60744515e-03 9.97302240e-01 -8.43178383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.617719421 meters 0.052002707583302124 Centerline is valid? [True, True] Translation: X:81.06, Y:-11.75, Z:-8.43 [[ 9.58728180e-01 2.74884116e-01 7.26567243e-02 8.10614049e+01] [-2.74184824e-01 9.61476729e-01 -1.96260333e-02 -1.17521679e+01] [-7.52526345e-02 -1.10534005e-03 9.97163888e-01 -8.43161630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64771942099999 meters 0.05157145354871304 Centerline is valid? [True, True] Translation: X:81.09, Y:-11.77, Z:-8.44 [[ 9.59595838e-01 2.71505395e-01 7.38961948e-02 8.10897415e+01] [-2.70772032e-01 9.62436538e-01 -1.99604023e-02 -1.17655612e+01] [-7.65397548e-02 -8.55103829e-04 9.97066164e-01 -8.43604386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67771942099999 meters 0.05041942563320986 Centerline is valid? [True, True] Translation: X:81.12, Y:-11.79, Z:-8.44 [[ 9.61373120e-01 2.65138157e-01 7.39153668e-02 8.11179262e+01] [-2.64384026e-01 9.64210376e-01 -1.99859142e-02 -1.17854711e+01] [-7.65689921e-02 -3.28121585e-04 9.97064232e-01 -8.43606306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.707719421 meters 0.050458059917545865 Centerline is valid? [True, True] Translation: X:81.15, Y:-11.80, Z:-8.44 [[ 9.62160878e-01 2.62477033e-01 7.31590892e-02 8.11472379e+01] [-2.61728640e-01 9.64938236e-01 -1.98070728e-02 -1.17976169e+01] [-7.57929042e-02 -9.02383120e-05 9.97123577e-01 -8.43969859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.737719421 meters 0.05074178788246208 Centerline is valid? [True, True] Translation: X:81.18, Y:-11.81, Z:-8.44 [[ 9.63338464e-01 2.58030399e-01 7.34800516e-02 8.11775609e+01] [-2.57261872e-01 9.66136761e-01 -1.99019609e-02 -1.18117741e+01] [-7.61270900e-02 2.68708757e-04 9.97098086e-01 -8.44290776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.767719421 meters 0.050584762076941826 Centerline is valid? [True, True] Translation: X:81.21, Y:-11.82, Z:-8.44 [[ 9.63980869e-01 2.55082508e-01 7.53246152e-02 8.12089100e+01] [-2.54263670e-01 9.66919139e-01 -2.04295174e-02 -1.18203529e+01] [-7.80440246e-02 5.41350808e-04 9.96949767e-01 -8.44308208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.797719421 meters 0.05114517165228046 Centerline is valid? [True, True] Translation: X:81.24, Y:-11.83, Z:-8.45 [[ 9.64295961e-01 2.53459587e-01 7.67563488e-02 8.12388282e+01] [-2.52602115e-01 9.67345716e-01 -2.08431789e-02 -1.18293273e+01] [-7.95328287e-02 7.10177127e-04 9.96831994e-01 -8.44756511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.827719421 meters 0.05128632767986416 Centerline is valid? [True, True] Translation: X:81.27, Y:-11.84, Z:-8.45 [[ 9.65242585e-01 2.49434978e-01 7.80316854e-02 8.12701893e+01] [-2.48533764e-01 9.68390945e-01 -2.12119126e-02 -1.18368073e+01] [-8.08561705e-02 1.08113290e-03 9.96725193e-01 -8.44561783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.857719421 meters 0.051886718806602054 Centerline is valid? [True, True] Translation: X:81.30, Y:-11.85, Z:-8.45 [[ 9.65862477e-01 2.47225809e-01 7.73891126e-02 8.13007294e+01] [-2.46330352e-01 9.68957049e-01 -2.10616922e-02 -1.18450874e+01] [-8.01937200e-02 1.27941078e-03 9.96778476e-01 -8.44902552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.887719421 meters 0.05373640949963659 Centerline is valid? [True, True] Translation: X:81.33, Y:-11.85, Z:-8.45 [[ 9.67316007e-01 2.41767628e-01 7.64732366e-02 8.13305128e+01] [-2.40874276e-01 9.70332624e-01 -2.08370168e-02 -1.18532231e+01] [-7.92421925e-02 1.73554435e-03 9.96853882e-01 -8.45412223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.917719421 meters 0.054556068413642696 Centerline is valid? [True, True] Translation: X:81.36, Y:-11.86, Z:-8.46 [[ 9.67657942e-01 2.40396293e-01 7.64704435e-02 8.13611684e+01] [-2.39496981e-01 9.70673028e-01 -2.08582766e-02 -1.18607693e+01] [-7.92420493e-02 1.86923669e-03 9.96853652e-01 -8.45843612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.947719421 meters 0.05574070999907178 Centerline is valid? [True, True] Translation: X:81.39, Y:-11.87, Z:-8.46 [[ 9.67791983e-01 2.39974007e-01 7.60996223e-02 8.13914594e+01] [-2.39079979e-01 9.70777413e-01 -2.07840668e-02 -1.18651947e+01] [-7.88634303e-02 1.92075717e-03 9.96883579e-01 -8.46380317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.977719421 meters 0.05439988359072742 Centerline is valid? [True, True] Translation: X:81.42, Y:-11.87, Z:-8.46 [[ 9.67474757e-01 2.41313603e-01 7.58969047e-02 8.14246309e+01] [-2.40427692e-01 9.70445489e-01 -2.07383300e-02 -1.18670045e+01] [-7.86582499e-02 1.81609316e-03 9.96899986e-01 -8.46455265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.007719421 meters 0.053737050739063374 Centerline is valid? [True, True] Translation: X:81.46, Y:-11.86, Z:-8.47 [[ 9.66854454e-01 2.44252008e-01 7.43869737e-02 8.14582858e+01] [-2.43407962e-01 9.69710523e-01 -2.03486031e-02 -1.18648470e+01] [-7.71040183e-02 1.56775587e-03 9.97021821e-01 -8.46966212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03771942099999 meters 0.0548525084311453 Centerline is valid? [True, True] Translation: X:81.49, Y:-11.87, Z:-8.48 [[ 9.66635176e-01 2.45854855e-01 7.19154146e-02 8.14879307e+01] [-2.45068538e-01 9.69305619e-01 -1.96984624e-02 -1.18697260e+01] [-7.45509780e-02 1.41702110e-03 9.97216197e-01 -8.47927219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06771942099999 meters 0.0548525084311453 Centerline is valid? [True, True] Translation: X:81.52, Y:-11.88, Z:-8.48 [[ 9.66559307e-01 2.46153442e-01 7.19137609e-02 8.15190357e+01] [-2.45367500e-01 9.69229860e-01 -1.97045001e-02 -1.18785580e+01] [-7.45512949e-02 1.40026824e-03 9.97216197e-01 -8.48260210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.097719421 meters 0.052624948819089586 Centerline is valid? [True, True] Translation: X:81.55, Y:-11.87, Z:-8.48 [[ 9.65925494e-01 2.49512902e-01 6.87840920e-02 8.15541460e+01] [-2.48800947e-01 9.68370836e-01 -1.88683091e-02 -1.18723229e+01] [-7.13163953e-02 1.11183352e-03 9.97453125e-01 -8.48088655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.127719421 meters 0.052571124693486945 Centerline is valid? [True, True] Translation: X:81.59, Y:-11.88, Z:-8.49 [[ 9.65309306e-01 2.51907612e-01 6.87058873e-02 8.15857889e+01] [-2.51201666e-01 9.67750815e-01 -1.88701660e-02 -1.18753051e+01] [-7.12437169e-02 9.56513513e-04 9.97458479e-01 -8.48578662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.157719421 meters 0.051544383901141334 Centerline is valid? [True, True] Translation: X:81.62, Y:-11.86, Z:-8.49 [[ 9.63312095e-01 2.59360219e-01 6.90078619e-02 8.16209532e+01] [-2.58665364e-01 9.65780560e-01 -1.89773181e-02 -1.18632503e+01] [-7.15684129e-02 4.31136309e-04 9.97435600e-01 -8.48867842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.187719421 meters 0.051496860692167655 Centerline is valid? [True, True] Translation: X:81.65, Y:-11.86, Z:-8.49 [[ 9.62120768e-01 2.63700412e-01 6.91789008e-02 8.16523051e+01] [-2.63011225e-01 9.64604621e-01 -1.90531143e-02 -1.18615497e+01] [-7.17546014e-02 1.36569529e-04 9.97422307e-01 -8.49401315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.217719421 meters 0.050987869005184074 Centerline is valid? [True, True] Translation: X:81.69, Y:-11.85, Z:-8.49 [[ 9.59692945e-01 2.71868989e-01 7.12509936e-02 8.16858308e+01] [-2.71160004e-01 9.62334151e-01 -1.96273693e-02 -1.18541322e+01] [-7.39033375e-02 -4.84171935e-04 9.97265292e-01 -8.48966111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.247719421 meters 0.051093953067884154 Centerline is valid? [True, True] Translation: X:81.72, Y:-11.85, Z:-8.49 [[ 9.58266388e-01 2.76009433e-01 7.44602020e-02 8.17165866e+01] [-2.75247672e-01 9.61154558e-01 -2.05093801e-02 -1.18474355e+01] [-7.72285450e-02 -8.41547666e-04 9.97013061e-01 -8.48864655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.277719421 meters 0.05218253788245743 Centerline is valid? [True, True] Translation: X:81.74, Y:-11.85, Z:-8.50 [[ 9.57843414e-01 2.77714277e-01 7.35579674e-02 8.17449444e+01] [-2.76976586e-01 9.60663223e-01 -2.02519684e-02 -1.18453860e+01] [-7.62886948e-02 -9.75620161e-04 9.97085294e-01 -8.49531554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.307719421 meters 0.05314691469542979 Centerline is valid? [True, True] Translation: X:81.78, Y:-11.84, Z:-8.50 [[ 9.56514181e-01 2.82817084e-01 7.13800943e-02 8.17765109e+01] [-2.82137206e-01 9.59172914e-01 -1.96447918e-02 -1.18413113e+01] [-7.40217358e-02 -1.34845841e-03 9.97255717e-01 -8.49908682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.337719421 meters 0.05372407347283073 Centerline is valid? [True, True] Translation: X:81.81, Y:-11.84, Z:-8.50 [[ 9.56005811e-01 2.84761963e-01 7.04522072e-02 8.18050790e+01] [-2.84105070e-01 9.58597116e-01 -1.93875922e-02 -1.18446573e+01] [-7.30561314e-02 -1.48117845e-03 9.97326731e-01 -8.50272961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.367719421 meters 0.05489741911348374 Centerline is valid? [True, True] Translation: X:81.83, Y:-11.85, Z:-8.51 [[ 9.54918309e-01 2.88453606e-01 7.01821925e-02 8.18345362e+01] [-2.87812147e-01 9.57492251e-01 -1.93069321e-02 -1.18453416e+01] [-7.27680596e-02 -1.76274455e-03 9.97347333e-01 -8.50654989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39771942099999 meters 0.05569788026493893 Centerline is valid? [True, True] Translation: X:81.86, Y:-11.85, Z:-8.51 [[ 9.54598407e-01 2.89563176e-01 6.99646218e-02 8.18622949e+01] [-2.88929074e-01 9.57157122e-01 -1.92414747e-02 -1.18489192e+01] [-7.25387585e-02 -1.84693231e-03 9.97363884e-01 -8.51071189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42771942099999 meters 0.05659610998544111 Centerline is valid? [True, True] Translation: X:81.89, Y:-11.85, Z:-8.51 [[ 9.54258552e-01 2.90851925e-01 6.92515302e-02 8.18891049e+01] [-2.90234591e-01 9.56766129e-01 -1.90382720e-02 -1.18532369e+01] [-7.17948365e-02 -1.93175572e-03 9.97417550e-01 -8.51497550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.457719421 meters 0.056043309365796865 Centerline is valid? [True, True] Translation: X:81.92, Y:-11.87, Z:-8.52 [[ 9.54286642e-01 2.90574925e-01 7.00229793e-02 8.19160702e+01] [-2.89943777e-01 9.56850270e-01 -1.92397161e-02 -1.18650269e+01] [-7.25920857e-02 -1.94252300e-03 9.97359823e-01 -8.51593404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.487719421 meters 0.056394119054273655 Centerline is valid? [True, True] Translation: X:81.94, Y:-11.87, Z:-8.52 [[ 9.54583145e-01 2.89502541e-01 7.04222833e-02 8.19422038e+01] [-2.88861670e-01 9.57175405e-01 -1.93437453e-02 -1.18740101e+01] [-7.30065409e-02 -1.87708516e-03 9.97329696e-01 -8.52089019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.517719421 meters 0.054918171905804794 Centerline is valid? [True, True] Translation: X:81.97, Y:-11.89, Z:-8.52 [[ 9.55568962e-01 2.85817570e-01 7.20851957e-02 8.19666683e+01] [-2.85136288e-01 9.58282640e-01 -1.97908670e-02 -1.18922667e+01] [-7.47345692e-02 -1.64256693e-03 9.97202109e-01 -8.52282937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.547719421 meters 0.053242887152891154 Centerline is valid? [True, True] Translation: X:81.99, Y:-11.91, Z:-8.52 [[ 9.56062910e-01 2.84150509e-01 7.21262743e-02 8.19930353e+01] [-2.83463928e-01 9.58778489e-01 -1.97992671e-02 -1.19071658e+01] [-7.47790921e-02 -1.51585216e-03 9.97198972e-01 -8.52277993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.577719421 meters 0.053282205224851366 Centerline is valid? [True, True] Translation: X:82.02, Y:-11.92, Z:-8.53 [[ 9.56625448e-01 2.82059646e-01 7.28704838e-02 8.20191297e+01] [-2.81353219e-01 9.59395889e-01 -1.99973476e-02 -1.19169557e+01] [-7.55520874e-02 -1.37237357e-03 9.97140912e-01 -8.52780689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.607719421 meters 0.05286209415976072 Centerline is valid? [True, True] Translation: X:82.05, Y:-11.93, Z:-8.53 [[ 9.57067703e-01 2.80919395e-01 7.14542178e-02 8.20463949e+01] [-2.80237649e-01 9.59730531e-01 -1.96002045e-02 -1.19275932e+01] [-7.40828720e-02 -1.26543928e-03 9.97251286e-01 -8.53079494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.637719421 meters 0.052933065427435214 Centerline is valid? [True, True] Translation: X:82.07, Y:-11.94, Z:-8.54 [[ 9.57926156e-01 2.78325202e-01 7.00896669e-02 8.20697976e+01] [-2.77662715e-01 9.60486325e-01 -1.92207073e-02 -1.19448702e+01] [-7.26697738e-02 -1.04926898e-03 9.97355505e-01 -8.53717329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.667719421 meters 0.052376065503748875 Centerline is valid? [True, True] Translation: X:82.10, Y:-11.96, Z:-8.54 [[ 9.58858645e-01 2.75300156e-01 6.92814785e-02 8.20955408e+01] [-2.74645652e-01 9.61357973e-01 -1.89898246e-02 -1.19596530e+01] [-7.18322035e-02 -8.19299370e-04 9.97416394e-01 -8.54018837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.697719421 meters 0.051924337665727224 Centerline is valid? [True, True] Translation: X:82.12, Y:-11.98, Z:-8.55 [[ 9.61172723e-01 2.67507477e-01 6.77255169e-02 8.21197827e+01] [-2.66863149e-01 9.63555755e-01 -1.85571060e-02 -1.19788922e+01] [-7.02214762e-02 -2.36860596e-04 9.97531397e-01 -8.54727730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.727719421 meters 0.05170532896561542 Centerline is valid? [True, True] Translation: X:82.15, Y:-12.00, Z:-8.55 [[ 9.62917477e-01 2.61393065e-01 6.68101668e-02 8.21485248e+01] [-2.60752460e-01 9.65232422e-01 -1.82900444e-02 -1.19971464e+01] [-6.92682298e-02 1.90888047e-04 9.97598053e-01 -8.54633023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.757719421 meters 0.05235402827982663 Centerline is valid? [True, True] Translation: X:82.18, Y:-12.01, Z:-8.55 [[ 9.63217932e-01 2.59794549e-01 6.86877568e-02 8.21762563e+01] [-2.59111655e-01 9.65663854e-01 -1.88274144e-02 -1.20103672e+01] [-7.12205436e-02 3.37104762e-04 9.97460536e-01 -8.55432975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78771942099999 meters 0.05188689461564604 Centerline is valid? [True, True] Translation: X:82.21, Y:-12.03, Z:-8.55 [[ 9.63937357e-01 2.56408148e-01 7.12715463e-02 8.22064445e+01] [-2.55661587e-01 9.66568393e-01 -1.95625986e-02 -1.20262611e+01] [-7.39048336e-02 6.35722953e-04 9.97265096e-01 -8.54997183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81771942099999 meters 0.051572315237897765 Centerline is valid? [True, True] Translation: X:82.24, Y:-12.04, Z:-8.55 [[ 9.63659231e-01 2.57043527e-01 7.27290284e-02 8.22374053e+01] [-2.56267648e-01 9.66399639e-01 -1.99657177e-02 -1.20363412e+01] [-7.54173653e-02 6.02051116e-04 9.97151873e-01 -8.55070170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.847719421 meters 0.051173620844036025 Centerline is valid? [True, True] Translation: X:82.27, Y:-12.04, Z:-8.55 [[ 9.63184745e-01 2.58333772e-01 7.44231798e-02 8.22683589e+01] [-2.57523352e-01 9.66055576e-01 -2.04535408e-02 -1.20445997e+01] [-7.71807682e-02 5.34831791e-04 9.97016972e-01 -8.55108828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.877719421 meters 0.050604258048154584 Centerline is valid? [True, True] Translation: X:82.30, Y:-12.05, Z:-8.55 [[ 9.62123590e-01 2.62739901e-01 7.27044876e-02 8.23007079e+01] [-2.61977471e-01 9.64866677e-01 -2.00024860e-02 -1.20462728e+01] [-7.54055886e-02 1.97925804e-04 9.97152926e-01 -8.55382212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.907719421 meters 0.050973750426720484 Centerline is valid? [True, True] Translation: X:82.33, Y:-12.05, Z:-8.56 [[ 9.60629241e-01 2.68586520e-01 7.10826439e-02 8.23308963e+01] [-2.67871671e-01 9.63255537e-01 -1.95841345e-02 -1.20469939e+01] [-7.37307849e-02 -2.27934365e-04 9.97278155e-01 -8.56024423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.937719421 meters 0.051167886803293296 Centerline is valid? [True, True] Translation: X:82.36, Y:-12.05, Z:-8.56 [[ 9.59677862e-01 2.71912508e-01 7.12880674e-02 8.23604617e+01] [-2.71201760e-01 9.62321861e-01 -1.96530241e-02 -1.20523424e+01] [-7.39459688e-02 -4.72877129e-04 9.97262137e-01 -8.56312961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.967719421 meters 0.05174421359374341 Centerline is valid? [True, True] Translation: X:82.39, Y:-12.06, Z:-8.57 [[ 9.58313514e-01 2.76906825e-01 7.04117819e-02 8.23900940e+01] [-2.76227118e-01 9.60896398e-01 -1.94085452e-02 -1.20559779e+01] [-7.30327862e-02 -8.50172371e-04 9.97329178e-01 -8.56584027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.997719421 meters 0.05245673987787611 Centerline is valid? [True, True] Translation: X:82.42, Y:-12.06, Z:-8.57 [[ 9.57922881e-01 2.78691920e-01 6.86627056e-02 8.24182391e+01] [-2.78050293e-01 9.60380074e-01 -1.89248079e-02 -1.20597598e+01] [-7.12164853e-02 -9.63178854e-04 9.97460418e-01 -8.57112157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.027719421 meters 0.053548757294287555 Centerline is valid? [True, True] Translation: X:82.45, Y:-12.06, Z:-8.58 [[ 9.56764591e-01 2.83215670e-01 6.62601072e-02 8.24476676e+01] [-2.82629443e-01 9.59055419e-01 -1.82565348e-02 -1.20621101e+01] [-6.87176516e-02 -1.25985115e-03 9.97635353e-01 -8.57630102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.057719421 meters 0.05437550040898165 Centerline is valid? [True, True] Translation: X:82.48, Y:-12.07, Z:-8.58 [[ 9.55985141e-01 2.85900772e-01 6.59784744e-02 8.24757908e+01] [-2.85326158e-01 9.58258131e-01 -1.81751970e-02 -1.20670524e+01] [-6.84207124e-02 -1.45016638e-03 9.97655503e-01 -8.57944933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.087719421 meters 0.05604235788523938 Centerline is valid? [True, True] Translation: X:82.50, Y:-12.07, Z:-8.58 [[ 9.54752967e-01 2.89805125e-01 6.67814399e-02 8.25041711e+01] [-2.89226327e-01 9.57084064e-01 -1.83909389e-02 -1.20696997e+01] [-6.92452403e-02 -1.75614706e-03 9.97598122e-01 -8.58166194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.117719421 meters 0.05632354794016331 Centerline is valid? [True, True] Translation: X:82.53, Y:-12.08, Z:-8.58 [[ 9.53782805e-01 2.92432084e-01 6.91508276e-02 8.25314350e+01] [-2.91818861e-01 9.56284154e-01 -1.90360092e-02 -1.20780915e+01] [-7.16945805e-02 -2.02329747e-03 9.97424580e-01 -8.58132693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14771942099999 meters 0.05690868150151369 Centerline is valid? [True, True] Translation: X:82.56, Y:-12.08, Z:-8.58 [[ 9.53107092e-01 2.94094080e-01 7.13830734e-02 8.25596858e+01] [-2.93446054e-01 9.55773878e-01 -1.96394435e-02 -1.20847274e+01] [-7.40019209e-02 -2.22858837e-03 9.97255609e-01 -8.58364656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17771942099999 meters 0.05863667845980253 Centerline is valid? [True, True] Translation: X:82.59, Y:-12.09, Z:-8.59 [[ 9.52466206e-01 2.96537957e-01 6.98095000e-02 8.25877120e+01] [-2.95925187e-01 9.55018126e-01 -1.92005976e-02 -1.20879421e+01] [-7.23630439e-02 -2.37046897e-03 9.97375541e-01 -8.58959841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.207719421 meters 0.059301067053919194 Centerline is valid? [True, True] Translation: X:82.61, Y:-12.10, Z:-8.60 [[ 9.52335997e-01 2.97360035e-01 6.80673024e-02 8.26147007e+01] [-2.96779949e-01 9.54762463e-01 -1.87163443e-02 -1.20954130e+01] [-7.05535981e-02 -2.37676214e-03 9.97505158e-01 -8.59502179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.237719421 meters 0.05977586824304214 Centerline is valid? [True, True] Translation: X:82.64, Y:-12.11, Z:-8.60 [[ 9.52284443e-01 2.97683135e-01 6.73727719e-02 8.26407655e+01] [-2.97116188e-01 9.54661757e-01 -1.85175767e-02 -1.21095865e+01] [-6.98305791e-02 -2.38354091e-03 9.97556018e-01 -8.59924306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.267719421 meters 0.0590542766540174 Centerline is valid? [True, True] Translation: X:82.67, Y:-12.12, Z:-8.60 [[ 9.52779654e-01 2.95694793e-01 6.91051347e-02 8.26662351e+01] [-2.95093429e-01 9.55279696e-01 -1.89886948e-02 -1.21225737e+01] [-7.16295903e-02 -2.30042910e-03 9.97428649e-01 -8.60117265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.297719421 meters 0.05623971642762426 Centerline is valid? [True, True] Translation: X:82.69, Y:-12.14, Z:-8.60 [[ 9.54111030e-01 2.90498204e-01 7.26838140e-02 8.26909268e+01] [-2.89818701e-01 9.56873403e-01 -1.99602374e-02 -1.21433630e+01] [-7.53476215e-02 -2.02084582e-03 9.97155280e-01 -8.59956092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.327719421 meters 0.05538007355134751 Centerline is valid? [True, True] Translation: X:82.72, Y:-12.16, Z:-8.60 [[ 9.54490133e-01 2.88817262e-01 7.43853174e-02 8.27176588e+01] [-2.88100492e-01 9.57382291e-01 -2.04268050e-02 -1.21560123e+01] [-7.71147995e-02 -1.93326269e-03 9.97020346e-01 -8.60024772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.357719421 meters 0.054077818206922104 Centerline is valid? [True, True] Translation: X:82.74, Y:-12.17, Z:-8.60 [[ 9.55316026e-01 2.85705892e-01 7.57854474e-02 8.27433292e+01] [-2.84952650e-01 9.58315805e-01 -2.08039840e-02 -1.21738526e+01] [-7.85702128e-02 -1.72088472e-03 9.96907097e-01 -8.60147162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.387719421 meters 0.05215331670164857 Centerline is valid? [True, True] Translation: X:82.77, Y:-12.19, Z:-8.60 [[ 9.56344514e-01 2.83093323e-01 7.25488915e-02 8.27712583e+01] [-2.82396531e-01 9.59091267e-01 -1.99032765e-02 -1.21938571e+01] [-7.52154930e-02 -1.45316601e-03 9.97166244e-01 -8.60482278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.417719421 meters 0.05371830394369408 Centerline is valid? [True, True] Translation: X:82.80, Y:-12.20, Z:-8.62 [[ 9.56969859e-01 2.81758025e-01 6.94341764e-02 8.27998128e+01] [-2.81114505e-01 9.59484661e-01 -1.90741037e-02 -1.22024096e+01] [-7.19953089e-02 -1.26561183e-03 9.97404168e-01 -8.61785609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.447719421 meters 0.05207689723409353 Centerline is valid? [True, True] Translation: X:82.83, Y:-12.22, Z:-8.62 [[ 9.58527074e-01 2.77230095e-01 6.61008533e-02 8.28277210e+01] [-2.76635794e-01 9.60803158e-01 -1.81639499e-02 -1.22231275e+01] [-6.85455021e-02 -8.75224312e-04 9.97647607e-01 -8.61963025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.477719421 meters 0.051735279608785205 Centerline is valid? [True, True] Translation: X:82.86, Y:-12.24, Z:-8.62 [[ 9.59035600e-01 2.75639001e-01 6.53747670e-02 8.28580353e+01] [-2.75052746e-01 9.61260943e-01 -1.79829435e-02 -1.22365237e+01] [-6.77990108e-02 -7.35226202e-04 9.97698729e-01 -8.62288945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50771942099999 meters 0.051390485371009056 Centerline is valid? [True, True] Translation: X:82.89, Y:-12.25, Z:-8.62 [[ 9.60069773e-01 2.72061112e-01 6.51826849e-02 8.28873599e+01] [-2.71467882e-01 9.62279870e-01 -1.79621883e-02 -1.22530520e+01] [-6.76107985e-02 -4.50051361e-04 9.97711670e-01 -8.62485116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53771942099999 meters 0.0512806347441542 Centerline is valid? [True, True] Translation: X:82.92, Y:-12.26, Z:-8.63 [[ 9.60084084e-01 2.71610938e-01 6.68285140e-02 8.29165945e+01] [-2.70986093e-01 9.62407043e-01 -1.84179560e-02 -1.22635303e+01] [-6.93187508e-02 -4.26811438e-04 9.97594471e-01 -8.62827436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56771942099999 meters 0.050821453256850606 Centerline is valid? [True, True] Translation: X:82.95, Y:-12.27, Z:-8.63 [[ 9.59486262e-01 2.72815829e-01 7.04104863e-02 8.29468705e+01] [-2.72123190e-01 9.62066141e-01 -1.94347429e-02 -1.22684888e+01] [-7.30416504e-02 -5.12957340e-04 9.97328759e-01 -8.62720250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.597719421 meters 0.050965294554886034 Centerline is valid? [True, True] Translation: X:82.98, Y:-12.27, Z:-8.63 [[ 9.58815463e-01 2.75187832e-01 7.03176008e-02 8.29783643e+01] [-2.74503826e-01 9.61390227e-01 -1.94030968e-02 -1.22734550e+01] [-7.29421503e-02 -6.98461175e-04 9.97335929e-01 -8.62889170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.627719421 meters 0.05275509500867931 Centerline is valid? [True, True] Translation: X:83.01, Y:-12.27, Z:-8.63 [[ 9.56347904e-01 2.83438921e-01 7.11411535e-02 8.30109565e+01] [-2.82759715e-01 9.58989384e-01 -1.96546699e-02 -1.22719630e+01] [-7.37945094e-02 -1.31914987e-03 9.97272596e-01 -8.63217851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.657719421 meters 0.05503590132227411 Centerline is valid? [True, True] Translation: X:83.04, Y:-12.27, Z:-8.63 [[ 9.53698845e-01 2.92057335e-01 7.18402865e-02 8.30432113e+01] [-2.91387938e-01 9.56398740e-01 -1.98625025e-02 -1.22727908e+01] [-7.45089491e-02 -1.99054728e-03 9.97218358e-01 -8.63361362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.687719421 meters 0.05708608220735613 Centerline is valid? [True, True] Translation: X:83.07, Y:-12.28, Z:-8.64 [[ 9.52676738e-01 2.95525161e-01 7.12173637e-02 8.30734574e+01] [-2.94876718e-01 9.55332334e-01 -1.96939539e-02 -1.22768316e+01] [-7.38563092e-02 -2.23837079e-03 9.97266381e-01 -8.63919855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.717719421 meters 0.06010658029547691 Centerline is valid? [True, True] Translation: X:83.10, Y:-12.28, Z:-8.65 [[ 9.51324467e-01 3.00690719e-01 6.75784676e-02 8.31036033e+01] [-3.00119782e-01 9.53718423e-01 -1.86891842e-02 -1.22811787e+01] [-7.00704938e-02 -2.50215675e-03 9.97538904e-01 -8.64752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.747719421 meters 0.05900727041355627 Centerline is valid? [True, True] Translation: X:83.13, Y:-12.29, Z:-8.65 [[ 9.51297452e-01 3.01271051e-01 6.53369119e-02 8.31320559e+01] [-3.00738650e-01 9.53535374e-01 -1.80708368e-02 -1.22915759e+01] [-6.77452767e-02 -2.45859372e-03 9.97699621e-01 -8.64958859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.777719421 meters 0.059509621482860445 Centerline is valid? [True, True] Translation: X:83.16, Y:-12.30, Z:-8.65 [[ 9.50745658e-01 3.02956731e-01 6.55737188e-02 8.31616407e+01] [-3.02424457e-01 9.53000798e-01 -1.81363326e-02 -1.22977491e+01] [-6.79863304e-02 -2.58805678e-03 9.97682896e-01 -8.65203813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.807719421 meters 0.06303748298903694 Centerline is valid? [True, True] Translation: X:83.19, Y:-12.30, Z:-8.66 [[ 9.50572237e-01 3.03302313e-01 6.64840486e-02 8.31904802e+01] [-3.02755841e-01 9.52890707e-01 -1.83902602e-02 -1.22999435e+01] [-6.89298405e-02 -2.64716326e-03 9.97617998e-01 -8.66019846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.837719421 meters 0.06106916519340291 Centerline is valid? [True, True] Translation: X:83.22, Y:-12.32, Z:-8.66 [[ 9.50295807e-01 3.04442175e-01 6.52138134e-02 8.32164394e+01] [-3.03919416e-01 9.52527043e-01 -1.80338895e-02 -1.23180387e+01] [-6.76081974e-02 -2.68221449e-03 9.97708343e-01 -8.66025223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.867719421 meters 0.0614085217708821 Centerline is valid? [True, True] Translation: X:83.24, Y:-12.33, Z:-8.66 [[ 9.50345349e-01 3.04237377e-01 6.54472027e-02 8.32431976e+01] [-3.03710735e-01 9.52592475e-01 -1.80932373e-02 -1.23308993e+01] [-6.78491518e-02 -2.68219410e-03 9.97691986e-01 -8.66380175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89771942099999 meters 0.059104434443073006 Centerline is valid? [True, True] Translation: X:83.27, Y:-12.35, Z:-8.66 [[ 9.50268393e-01 3.04587969e-01 6.49318921e-02 8.32723225e+01] [-3.04070969e-01 9.52480400e-01 -1.79424764e-02 -1.23466124e+01] [-6.73114170e-02 -2.69373516e-03 9.97728378e-01 -8.66274515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92771942099999 meters 0.06177356945321674 Centerline is valid? [True, True] Translation: X:83.30, Y:-12.35, Z:-8.67 [[ 9.50216724e-01 3.04678280e-01 6.52634855e-02 8.33023637e+01] [-3.04154698e-01 9.52451518e-01 -1.80561751e-02 -1.23536379e+01] [-6.76616303e-02 -2.69291617e-03 9.97704692e-01 -8.67065446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.957719421 meters 0.06177356945321674 Centerline is valid? [True, True] Translation: X:83.33, Y:-12.36, Z:-8.67 [[ 9.50216352e-01 3.04681057e-01 6.52559402e-02 8.33311642e+01] [-3.04155616e-01 9.52450708e-01 -1.80834035e-02 -1.23616092e+01] [-6.76627370e-02 -2.66481498e-03 9.97704692e-01 -8.67373316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.987719421 meters 0.06224459935990621 Centerline is valid? [True, True] Translation: X:83.36, Y:-12.38, Z:-8.68 [[ 9.50334414e-01 3.04389133e-01 6.48980609e-02 8.33581848e+01] [-3.03868812e-01 9.52544140e-01 -1.79835183e-02 -1.23756015e+01] [-6.72922551e-02 -2.63014035e-03 9.97729841e-01 -8.67914734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.017719421 meters 0.0593625303286781 Centerline is valid? [True, True] Translation: X:83.39, Y:-12.39, Z:-8.68 [[ 9.50488344e-01 3.03902112e-01 6.49262305e-02 8.33868651e+01] [-3.03380784e-01 9.52699701e-01 -1.79827426e-02 -1.23924109e+01] [-6.73201938e-02 -2.60498355e-03 9.97728022e-01 -8.67799037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.047719421 meters 0.057574682929793904 Centerline is valid? [True, True] Translation: X:83.41, Y:-12.41, Z:-8.68 [[ 9.51148424e-01 3.00931104e-01 6.89720636e-02 8.34146651e+01] [-3.00332596e-01 9.53642571e-01 -1.91358144e-02 -1.24103036e+01] [-7.15332578e-02 -2.51355914e-03 9.97435048e-01 -8.67657846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.077719421 meters 0.05551416149274552 Centerline is valid? [True, True] Translation: X:83.44, Y:-12.43, Z:-8.68 [[ 9.52723982e-01 2.95399365e-01 7.11071684e-02 8.34402518e+01] [-2.94747625e-01 9.55371418e-01 -1.97304760e-02 -1.24310737e+01] [-7.37621264e-02 -2.16097138e-03 9.97273523e-01 -8.67629518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.107719421 meters 0.054726416068243175 Centerline is valid? [True, True] Translation: X:83.47, Y:-12.45, Z:-8.68 [[ 9.53744809e-01 2.92378104e-01 6.98991010e-02 8.34696835e+01] [-2.91740469e-01 9.56300917e-01 -1.93921115e-02 -1.24456524e+01] [-7.25144032e-02 -1.89727091e-03 9.97365561e-01 -8.68131491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.137719421 meters 0.0536267215013661 Centerline is valid? [True, True] Translation: X:83.50, Y:-12.46, Z:-8.68 [[ 9.54718413e-01 2.89235159e-01 6.96833944e-02 8.34980834e+01] [-2.88592955e-01 9.57256651e-01 -1.93341916e-02 -1.24637619e+01] [-7.22970207e-02 -1.65142795e-03 9.97381779e-01 -8.68399874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.167719421 meters 0.053728317946108585 Centerline is valid? [True, True] Translation: X:83.53, Y:-12.48, Z:-8.69 [[ 9.54802538e-01 2.89212019e-01 6.86186633e-02 8.35281919e+01] [-2.88587778e-01 9.57263722e-01 -1.90594053e-02 -1.24752306e+01] [-7.11983661e-02 -1.60453902e-03 9.97460886e-01 -8.68840488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.197719421 meters 0.0553709696812903 Centerline is valid? [True, True] Translation: X:83.56, Y:-12.48, Z:-8.70 [[ 9.54226001e-01 2.91886142e-01 6.52320332e-02 8.35558733e+01] [-2.91326344e-01 9.56451585e-01 -1.81473792e-02 -1.24848747e+01] [-6.76882500e-02 -1.68710865e-03 9.97705094e-01 -8.69526130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.227719421 meters 0.05572823184336472 Centerline is valid? [True, True] Translation: X:83.59, Y:-12.49, Z:-8.70 [[ 9.53455113e-01 2.94512046e-01 6.46993155e-02 8.35860782e+01] [-2.93968037e-01 9.55645943e-01 -1.79895875e-02 -1.24938773e+01] [-6.71277885e-02 -1.86726664e-03 9.97742639e-01 -8.69749855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25771942099999 meters 0.05796214325531579 Centerline is valid? [True, True] Translation: X:83.62, Y:-12.50, Z:-8.70 [[ 9.51447083e-01 3.00192158e-01 6.80670064e-02 8.36173182e+01] [-2.99602727e-01 9.53875823e-01 -1.89504596e-02 -1.24983021e+01] [-7.06162512e-02 -2.36270129e-03 9.97500758e-01 -8.69827345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28771942099999 meters 0.05873431619364894 Centerline is valid? [True, True] Translation: X:83.65, Y:-12.51, Z:-8.70 [[ 9.50459748e-01 3.02769777e-01 7.04040497e-02 8.36497026e+01] [-3.02145700e-01 9.53060079e-01 -1.96076991e-02 -1.25071208e+01] [-7.30359079e-02 -2.63595212e-03 9.97325828e-01 -8.69828594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31771942099999 meters 0.060819256724616175 Centerline is valid? [True, True] Translation: X:83.68, Y:-12.52, Z:-8.70 [[ 9.49170744e-01 3.06821301e-01 7.02537466e-02 8.36792541e+01] [-3.06208517e-01 9.51762693e-01 -1.95989767e-02 -1.25166695e+01] [-7.28782786e-02 -2.90952027e-03 9.97336599e-01 -8.70077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.347719421 meters 0.060140557998476306 Centerline is valid? [True, True] Translation: X:83.71, Y:-12.53, Z:-8.70 [[ 9.48869001e-01 3.08254867e-01 6.80187956e-02 8.37086993e+01] [-3.07684204e-01 9.51299316e-01 -1.89747707e-02 -1.25298170e+01] [-7.05552991e-02 -2.92373723e-03 9.97503585e-01 -8.70407573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.377719421 meters 0.06296666259872342 Centerline is valid? [True, True] Translation: X:83.74, Y:-12.54, Z:-8.72 [[ 9.48261871e-01 3.11185503e-01 6.29524120e-02 8.37365378e+01] [-3.10702602e-01 9.50344770e-01 -1.75701808e-02 -1.25364757e+01] [-6.52940811e-02 -2.89834570e-03 9.97861855e-01 -8.71514034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.407719421 meters 0.06205729476959492 Centerline is valid? [True, True] Translation: X:83.77, Y:-12.55, Z:-8.72 [[ 9.48103406e-01 3.11689539e-01 6.28455464e-02 8.37669456e+01] [-3.11210267e-01 9.50179447e-01 -1.75267646e-02 -1.25478822e+01] [-6.51774557e-02 -2.94099405e-03 9.97869355e-01 -8.71777120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.437719421 meters 0.06291685014657523 Centerline is valid? [True, True] Translation: X:83.80, Y:-12.56, Z:-8.72 [[ 9.48223537e-01 3.11297225e-01 6.29774703e-02 8.37957165e+01] [-3.10813309e-01 9.50308192e-01 -1.75905457e-02 -1.25590761e+01] [-6.53238940e-02 -2.89446642e-03 9.97859915e-01 -8.72215308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.467719421 meters 0.06309246674117103 Centerline is valid? [True, True] Translation: X:83.82, Y:-12.57, Z:-8.73 [[ 9.48601965e-01 3.10316989e-01 6.21102175e-02 8.38247298e+01] [-3.09843512e-01 9.50629083e-01 -1.73593001e-02 -1.25708270e+01] [-6.44306648e-02 -2.77738182e-03 9.97918321e-01 -8.72674588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.497719421 meters 0.05927682176009658 Centerline is valid? [True, True] Translation: X:83.85, Y:-12.59, Z:-8.72 [[ 9.49181174e-01 3.07981927e-01 6.48246262e-02 8.38515377e+01] [-3.07459504e-01 9.51388328e-01 -1.81356717e-02 -1.25906200e+01] [-6.72588518e-02 -2.71690924e-03 9.97731860e-01 -8.72308542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.527719421 meters 0.05958739482455097 Centerline is valid? [True, True] Translation: X:83.88, Y:-12.60, Z:-8.73 [[ 9.50270047e-01 3.04065384e-01 6.73132909e-02 8.38797261e+01] [-3.03492235e-01 9.52647796e-01 -1.88319134e-02 -1.26012834e+01] [-6.98519911e-02 -2.53365784e-03 9.97554149e-01 -8.72718823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.557719421 meters 0.05877290709128115 Centerline is valid? [True, True] Translation: X:83.91, Y:-12.61, Z:-8.73 [[ 9.50996940e-01 3.01713637e-01 6.76291425e-02 8.39083106e+01] [-3.01129248e-01 9.53395641e-01 -1.89189628e-02 -1.26136623e+01] [-7.01854387e-02 -2.37323711e-03 9.97531138e-01 -8.73003296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.587719421 meters 0.05556587047395513 Centerline is valid? [True, True] Translation: X:83.94, Y:-12.64, Z:-8.73 [[ 9.52237208e-01 2.97556083e-01 6.85906415e-02 8.39355894e+01] [-2.96944011e-01 9.54702044e-01 -1.91901564e-02 -1.26356284e+01] [-7.11937734e-02 -2.09399920e-03 9.97460306e-01 -8.72820398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.617719421 meters 0.05506930501008026 Centerline is valid? [True, True] Translation: X:83.96, Y:-12.65, Z:-8.73 [[ 9.52838651e-01 2.95597362e-01 6.87073877e-02 8.39645624e+01] [-2.94978304e-01 9.55310622e-01 -1.92202091e-02 -1.26488899e+01] [-7.13183404e-02 -1.95343057e-03 9.97451692e-01 -8.73257120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64771942099999 meters 0.05397834850485292 Centerline is valid? [True, True] Translation: X:83.99, Y:-12.66, Z:-8.74 [[ 9.54396017e-01 2.90836204e-01 6.73984027e-02 8.39923573e+01] [-2.90227181e-01 9.56771609e-01 -1.88751872e-02 -1.26644012e+01] [-6.99744659e-02 -1.54644492e-03 9.97547584e-01 -8.73792435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67771942099999 meters 0.05428933851010706 Centerline is valid? [True, True] Translation: X:84.02, Y:-12.67, Z:-8.74 [[ 9.54899128e-01 2.89234289e-01 6.71653332e-02 8.40222243e+01] [-2.88624213e-01 9.57257305e-01 -1.88285653e-02 -1.26730577e+01] [-6.97403726e-02 -1.40616085e-03 9.97564185e-01 -8.74477806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.707719421 meters 0.05332236302774131 Centerline is valid? [True, True] Translation: X:84.05, Y:-12.69, Z:-8.75 [[ 9.55930665e-01 2.86463973e-01 6.43036242e-02 8.40515121e+01] [-2.85896996e-01 9.58090348e-01 -1.80497153e-02 -1.26888831e+01] [-6.67792748e-02 -1.12993659e-03 9.97767133e-01 -8.74697896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.737719421 meters 0.05394531022167085 Centerline is valid? [True, True] Translation: X:84.08, Y:-12.70, Z:-8.75 [[ 9.56165017e-01 2.85632229e-01 6.45189080e-02 8.40803015e+01] [-2.85058872e-01 9.58338716e-01 -1.81203150e-02 -1.26982372e+01] [-6.70067134e-02 -1.06567580e-03 9.97751955e-01 -8.75300555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.767719421 meters 0.052585798153498314 Centerline is valid? [True, True] Translation: X:84.11, Y:-12.71, Z:-8.75 [[ 9.56295487e-01 2.84574949e-01 6.72014841e-02 8.41100941e+01] [-2.83949101e-01 9.58653255e-01 -1.88903102e-02 -1.27099493e+01] [-6.97986306e-02 -1.01708262e-03 9.97560583e-01 -8.74880139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.797719421 meters 0.0523729619416406 Centerline is valid? [True, True] Translation: X:84.14, Y:-12.72, Z:-8.75 [[ 9.56002495e-01 2.84948623e-01 6.97388800e-02 8.41417563e+01] [-2.84275460e-01 9.58542180e-01 -1.96049145e-02 -1.27184732e+01] [-7.24340514e-02 -1.08270499e-03 9.97372616e-01 -8.74919943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.827719421 meters 0.052786267677784146 Centerline is valid? [True, True] Translation: X:84.17, Y:-12.72, Z:-8.75 [[ 9.55334572e-01 2.86881737e-01 7.09557879e-02 8.41727134e+01] [-2.86189712e-01 9.57965197e-01 -1.99531817e-02 -1.27216901e+01] [-7.36973788e-02 -1.24485221e-03 9.97279874e-01 -8.75131416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.857719421 meters 0.05332422754197848 Centerline is valid? [True, True] Translation: X:84.20, Y:-12.73, Z:-8.76 [[ 9.54706079e-01 2.89011889e-01 7.07702656e-02 8.42043279e+01] [-2.88328667e-01 9.57324489e-01 -1.99098770e-02 -1.27254103e+01] [-7.35042995e-02 -1.39701574e-03 9.97293922e-01 -8.75545224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.887719421 meters 0.05522945739584451 Centerline is valid? [True, True] Translation: X:84.24, Y:-12.72, Z:-8.76 [[ 9.53305472e-01 2.93844154e-01 6.97444618e-02 8.42350562e+01] [-2.93191576e-01 9.55851799e-01 -1.96478553e-02 -1.27242815e+01] [-7.24387767e-02 -1.71808069e-03 9.97371381e-01 -8.76097527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.917719421 meters 0.05685994315626821 Centerline is valid? [True, True] Translation: X:84.27, Y:-12.73, Z:-8.76 [[ 9.52090475e-01 2.97866298e-01 6.92776756e-02 8.42662553e+01] [-2.97233611e-01 9.54605467e-01 -1.95085402e-02 -1.27284908e+01] [-7.19437845e-02 -2.01775841e-03 9.97406648e-01 -8.76409520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.947719421 meters 0.05589444063355783 Centerline is valid? [True, True] Translation: X:84.30, Y:-12.74, Z:-8.76 [[ 9.51594640e-01 2.99821823e-01 6.76351676e-02 8.42964454e+01] [-2.99222553e-01 9.53992910e-01 -1.90627978e-02 -1.27386805e+01] [-7.02389132e-02 -2.09791138e-03 9.97527992e-01 -8.76445423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.977719421 meters 0.059244901667372646 Centerline is valid? [True, True] Translation: X:84.33, Y:-12.73, Z:-8.77 [[ 9.50260082e-01 3.04634302e-01 6.48360857e-02 8.43276787e+01] [-3.04093133e-01 9.52466547e-01 -1.82987111e-02 -1.27347731e+01] [-6.73286178e-02 -2.32767373e-03 9.97728139e-01 -8.77412663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00771942099999 meters 0.06261990876726288 Centerline is valid? [True, True] Translation: X:84.36, Y:-12.73, Z:-8.78 [[ 9.49287491e-01 3.07519296e-01 6.54610036e-02 8.43597349e+01] [-3.06974306e-01 9.51538416e-01 -1.84774966e-02 -1.27347864e+01] [-6.79708465e-02 -2.55438973e-03 9.97684038e-01 -8.78165413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03771942099999 meters 0.0646983204027531 Centerline is valid? [True, True] Translation: X:84.39, Y:-12.74, Z:-8.78 [[ 9.47912651e-01 3.11372806e-01 6.71459682e-02 8.43927040e+01] [-3.10808129e-01 9.50283438e-01 -1.89655915e-02 -1.27370827e+01] [-6.97130710e-02 -2.89178864e-03 9.97562893e-01 -8.78214696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06771942099999 meters 0.06399020667284229 Centerline is valid? [True, True] Translation: X:84.42, Y:-12.75, Z:-8.78 [[ 9.47357498e-01 3.12844995e-01 6.81306146e-02 8.44241468e+01] [-3.12267465e-01 9.49799314e-01 -1.92429975e-02 -1.27457664e+01] [-7.07304865e-02 -3.04497639e-03 9.97490815e-01 -8.78172548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.097719421 meters 0.060151786784615004 Centerline is valid? [True, True] Translation: X:84.45, Y:-12.76, Z:-8.78 [[ 9.46931880e-01 3.14237988e-01 6.76350570e-02 8.44533244e+01] [-3.13671111e-01 9.49339150e-01 -1.91209835e-02 -1.27628686e+01] [-7.02171469e-02 -3.10889460e-03 9.97526885e-01 -8.77804113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.127719421 meters 0.06287626675784609 Centerline is valid? [True, True] Translation: X:84.48, Y:-12.77, Z:-8.79 [[ 9.46925409e-01 3.14388241e-01 6.70246543e-02 8.44835876e+01] [-3.13830487e-01 9.49289522e-01 -1.89691549e-02 -1.27693644e+01] [-6.95894813e-02 -3.07200517e-03 9.97570983e-01 -8.78583361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.157719421 meters 0.060044428711990866 Centerline is valid? [True, True] Translation: X:84.51, Y:-12.79, Z:-8.79 [[ 9.47258338e-01 3.13731384e-01 6.53778191e-02 8.45118136e+01] [-3.13197739e-01 9.49507261e-01 -1.85239849e-02 -1.27896140e+01] [-6.78882693e-02 -2.92918598e-03 9.97688630e-01 -8.78684506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.187719421 meters 0.06319628311068554 Centerline is valid? [True, True] Translation: X:84.54, Y:-12.79, Z:-8.80 [[ 9.47105260e-01 3.14220052e-01 6.52486435e-02 8.45426011e+01] [-3.13687891e-01 9.49345645e-01 -1.85135880e-02 -1.27926158e+01] [-6.77608561e-02 -2.93339276e-03 9.97697280e-01 -8.79600093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.217719421 meters 0.06374097530647056 Centerline is valid? [True, True] Translation: X:84.57, Y:-12.80, Z:-8.80 [[ 9.46378035e-01 3.16378185e-01 6.53716911e-02 8.45739054e+01] [-3.15847829e-01 9.48628160e-01 -1.85677927e-02 -1.27992011e+01] [-6.78878716e-02 -3.07535554e-03 9.97688217e-01 -8.79933854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.247719421 meters 0.06316808751304961 Centerline is valid? [True, True] Translation: X:84.60, Y:-12.81, Z:-8.80 [[ 9.45531957e-01 3.18936457e-01 6.51832463e-02 8.46037870e+01] [-3.18413931e-01 9.47770591e-01 -1.85330877e-02 -1.28100688e+01] [-6.76896412e-02 -3.23162702e-03 9.97701192e-01 -8.80027008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.277719421 meters 0.06540280595134607 Centerline is valid? [True, True] Translation: X:84.63, Y:-12.82, Z:-8.80 [[ 9.44299324e-01 3.22502998e-01 6.55026893e-02 8.46318254e+01] [-3.21981922e-01 9.46562056e-01 -1.86525111e-02 -1.28199432e+01] [-6.80178510e-02 -3.47712811e-03 9.97678045e-01 -8.80137913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.307719421 meters 0.06627451129167598 Centerline is valid? [True, True] Translation: X:84.66, Y:-12.83, Z:-8.80 [[ 9.43803219e-01 3.23945878e-01 6.55328287e-02 8.46610692e+01] [-3.23427882e-01 9.46068825e-01 -1.86596532e-02 -1.28289321e+01] [-6.80432840e-02 -3.58410325e-03 9.97675932e-01 -8.80270413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.337719421 meters 0.06839980751428806 Centerline is valid? [True, True] Translation: X:84.69, Y:-12.83, Z:-8.81 [[ 9.42812790e-01 3.26629699e-01 6.64611374e-02 8.46916389e+01] [-3.26103340e-01 9.45144635e-01 -1.89269697e-02 -1.28340109e+01] [-6.89974979e-02 -3.82860980e-03 9.97609486e-01 -8.80511771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.367719421 meters 0.06794716934449976 Centerline is valid? [True, True] Translation: X:84.72, Y:-12.85, Z:-8.81 [[ 9.43095558e-01 3.25641607e-01 6.72927361e-02 8.47220167e+01] [-3.25099409e-01 9.45485634e-01 -1.91648114e-02 -1.28453672e+01] [-6.98651753e-02 -3.80258030e-03 9.97549196e-01 -8.80823807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39771942099999 meters 0.06683403251077619 Centerline is valid? [True, True] Translation: X:84.75, Y:-12.86, Z:-8.81 [[ 9.43852672e-01 3.23482933e-01 6.70889436e-02 8.47512046e+01] [-3.22937999e-01 9.46227066e-01 -1.91151257e-02 -1.28574117e+01] [-6.96647911e-02 -3.62370676e-03 9.97563875e-01 -8.81256392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42771942099999 meters 0.06423656755351473 Centerline is valid? [True, True] Translation: X:84.78, Y:-12.87, Z:-8.82 [[ 9.46127604e-01 3.17189020e-01 6.50667531e-02 8.47766493e+01] [-3.16661141e-01 9.48357410e-01 -1.85457355e-02 -1.28734938e+01] [-6.75890411e-02 -3.05748002e-03 9.97708561e-01 -8.81970807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.457719421 meters 0.06268836218790255 Centerline is valid? [True, True] Translation: X:84.81, Y:-12.89, Z:-8.82 [[ 9.47228289e-01 3.14044345e-01 6.43017636e-02 8.48052241e+01] [-3.13521816e-01 9.49404178e-01 -1.83242231e-02 -1.28868956e+01] [-6.68029816e-02 -2.80278319e-03 9.97762249e-01 -8.82412472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.487719421 meters 0.059997659505112495 Centerline is valid? [True, True] Translation: X:84.83, Y:-12.90, Z:-8.83 [[ 9.49094636e-01 3.08368177e-01 6.42529329e-02 8.48325328e+01] [-3.07833216e-01 9.51264063e-01 -1.83137256e-02 -1.29036674e+01] [-6.67688762e-02 -2.39772826e-03 9.97765588e-01 -8.82708466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.517719421 meters 0.05890056414167006 Centerline is valid? [True, True] Translation: X:84.86, Y:-12.92, Z:-8.83 [[ 9.50076132e-01 3.05596099e-01 6.29791026e-02 8.48617062e+01] [-3.05076612e-01 9.52158773e-01 -1.79424378e-02 -1.29156531e+01] [-6.54492441e-02 -2.16676935e-03 9.97853547e-01 -8.83150436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.547719421 meters 0.055930625231387976 Centerline is valid? [True, True] Translation: X:84.89, Y:-12.93, Z:-8.83 [[ 9.52524528e-01 2.97854350e-01 6.30857286e-02 8.48879313e+01] [-2.97314246e-01 9.54609970e-01 -1.80012131e-02 -1.29334261e+01] [-6.55840051e-02 -1.60968884e-03 9.97845753e-01 -8.83452463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.577719421 meters 0.05268851675487966 Centerline is valid? [True, True] Translation: X:84.92, Y:-12.95, Z:-8.83 [[ 9.53709174e-01 2.93694989e-01 6.46688839e-02 8.49167535e+01] [-2.93118078e-01 9.55898218e-01 -1.84496206e-02 -1.29510727e+01] [-6.72354320e-02 -1.36004653e-03 9.97736211e-01 -8.82935728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.607719421 meters 0.05162235485739109 Centerline is valid? [True, True] Translation: X:84.94, Y:-12.97, Z:-8.84 [[ 9.56577240e-01 2.83723427e-01 6.67907269e-02 8.49431854e+01] [-2.83082951e-01 9.58905922e-01 -1.90650260e-02 -1.29658267e+01] [-6.94552181e-02 -6.70146093e-04 9.97584845e-01 -8.83715861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.637719421 meters 0.049930483623144256 Centerline is valid? [True, True] Translation: X:84.97, Y:-12.99, Z:-8.83 [[ 9.59117087e-01 2.74219386e-01 6.99867262e-02 8.49711652e+01] [-2.73490928e-01 9.61667161e-01 -1.99745864e-02 -1.29861781e+01] [-7.27813551e-02 1.72323520e-05 9.97347920e-01 -8.83207354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.667719421 meters 0.05081572983857008 Centerline is valid? [True, True] Translation: X:85.00, Y:-13.00, Z:-8.84 [[ 9.60323483e-01 2.69637390e-01 7.12354302e-02 8.49988064e+01] [-2.68869927e-01 9.62961857e-01 -2.03328232e-02 -1.30009463e+01] [-7.40794916e-02 3.73022679e-04 9.97252270e-01 -8.83882060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.697719421 meters 0.05144887914160917 Centerline is valid? [True, True] Translation: X:85.03, Y:-13.02, Z:-8.83 [[ 9.62504885e-01 2.61533152e-01 7.20052567e-02 8.50270651e+01] [-2.60724767e-01 9.65193946e-01 -2.05728452e-02 -1.30198944e+01] [-7.48795189e-02 1.02791027e-03 9.97192058e-01 -8.83481375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.727719421 meters 0.052389975034554566 Centerline is valid? [True, True] Translation: X:85.06, Y:-13.03, Z:-8.84 [[ 9.63462889e-01 2.57789089e-01 7.26914515e-02 8.50570725e+01] [-2.56952859e-01 9.66200266e-01 -2.07912042e-02 -1.30315374e+01] [-7.55942454e-02 1.35327740e-03 9.97137743e-01 -8.83761950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75771942099999 meters 0.05458529895185817 Centerline is valid? [True, True] Translation: X:85.09, Y:-13.04, Z:-8.85 [[ 9.65002859e-01 2.52496844e-01 7.08154305e-02 8.50866940e+01] [-2.51686942e-01 9.67596136e-01 -2.02830342e-02 -1.30377040e+01] [-7.36421390e-02 1.74986682e-03 9.97283196e-01 -8.84559393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78771942099999 meters 0.05433285193794696 Centerline is valid? [True, True] Translation: X:85.12, Y:-13.04, Z:-8.85 [[ 9.65322127e-01 2.51621618e-01 6.95683247e-02 8.51189170e+01] [-2.50838288e-01 9.67824055e-01 -1.99186204e-02 -1.30418945e+01] [-7.23418536e-02 1.77748553e-03 9.97378312e-01 -8.84934056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81771942099999 meters 0.05477645212737834 Centerline is valid? [True, True] Translation: X:85.15, Y:-13.05, Z:-8.85 [[ 9.65392520e-01 2.51246835e-01 6.99450488e-02 8.51505209e+01] [-2.50452152e-01 9.67921300e-01 -2.00518758e-02 -1.30459337e+01] [-7.27392728e-02 1.84004297e-03 9.97349293e-01 -8.85114007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.847719421 meters 0.05372240825326153 Centerline is valid? [True, True] Translation: X:85.18, Y:-13.05, Z:-8.85 [[ 9.65050615e-01 2.52498225e-01 7.01566619e-02 8.51830970e+01] [-2.51701038e-01 9.67595749e-01 -2.01259319e-02 -1.30498127e+01] [-7.29650499e-02 1.76403839e-03 9.97332938e-01 -8.85154347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.877719421 meters 0.05372240825326153 Centerline is valid? [True, True] Translation: X:85.21, Y:-13.06, Z:-8.85 [[ 9.64962411e-01 2.52836705e-01 7.01508781e-02 8.52140557e+01] [-2.52038947e-01 9.67507367e-01 -2.01460677e-02 -1.30589812e+01] [-7.29651567e-02 1.75944461e-03 9.97332939e-01 -8.85487463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.907719421 meters 0.054185946627020434 Centerline is valid? [True, True] Translation: X:85.25, Y:-13.06, Z:-8.86 [[ 9.64794260e-01 2.53666195e-01 6.94658077e-02 8.52466229e+01] [-2.52884172e-01 9.67290314e-01 -1.99760899e-02 -1.30578526e+01] [-7.22608616e-02 1.70601355e-03 9.97384308e-01 -8.86195012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.937719421 meters 0.05434923766443988 Centerline is valid? [True, True] Translation: X:85.28, Y:-13.06, Z:-8.87 [[ 9.64820152e-01 2.53479750e-01 6.97860301e-02 8.52795383e+01] [-2.52688220e-01 9.67339107e-01 -2.00926683e-02 -1.30601046e+01] [-7.25998406e-02 1.75170351e-03 9.97359612e-01 -8.86694600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.967719421 meters 0.05490129763518554 Centerline is valid? [True, True] Translation: X:85.31, Y:-13.06, Z:-8.87 [[ 9.64978852e-01 2.52930438e-01 6.95845469e-02 8.53128097e+01] [-2.52140088e-01 9.67482766e-01 -2.00617435e-02 -1.30562458e+01] [-7.23960755e-02 1.81410441e-03 9.97374312e-01 -8.87289457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.997719421 meters 0.05541247085298597 Centerline is valid? [True, True] Translation: X:85.34, Y:-13.06, Z:-8.88 [[ 9.65229657e-01 2.52326600e-01 6.82861317e-02 8.53445825e+01] [-2.51562673e-01 9.67640373e-01 -1.97060841e-02 -1.30606940e+01] [-7.10487872e-02 1.84265494e-03 9.97471140e-01 -8.87869346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.027719421 meters 0.055854095233029886 Centerline is valid? [True, True] Translation: X:85.38, Y:-13.06, Z:-8.88 [[ 9.65822007e-01 2.50106303e-01 6.80785373e-02 8.53768906e+01] [-2.49339973e-01 9.68216274e-01 -1.96678645e-02 -1.30621531e+01] [-7.08338046e-02 2.02095572e-03 9.97486084e-01 -8.88114224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.057719421 meters 0.05710199714326368 Centerline is valid? [True, True] Translation: X:85.41, Y:-13.07, Z:-8.88 [[ 9.65844326e-01 2.49303396e-01 7.06580183e-02 8.54074975e+01] [-2.48474059e-01 9.68422978e-01 -2.04347137e-02 -1.30695154e+01] [-7.35212920e-02 2.18006764e-03 9.97291265e-01 -8.88431031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.087719421 meters 0.05591567737255554 Centerline is valid? [True, True] Translation: X:85.44, Y:-13.06, Z:-8.88 [[ 9.65661657e-01 2.49210628e-01 7.34276999e-02 8.54436416e+01] [-2.48312327e-01 9.68446571e-01 -2.12656263e-02 -1.30631264e+01] [-7.64104243e-02 2.30239696e-03 9.97073792e-01 -8.88293750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.117719421 meters 0.05477795860430303 Centerline is valid? [True, True] Translation: X:85.48, Y:-13.05, Z:-8.89 [[ 9.64761379e-01 2.52635149e-01 7.35592500e-02 8.54797738e+01] [-2.51743281e-01 9.67559469e-01 -2.13071268e-02 -1.30531311e+01] [-7.65558781e-02 2.03824612e-03 9.97063209e-01 -8.88698641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14771942099999 meters 0.05351104010196412 Centerline is valid? [True, True] Translation: X:85.51, Y:-13.05, Z:-8.89 [[ 9.63828083e-01 2.55914733e-01 7.44518347e-02 8.55121396e+01] [-2.55008469e-01 9.66697629e-01 -2.15957260e-02 -1.30526584e+01] [-7.74990765e-02 1.82871882e-03 9.96990747e-01 -8.88913390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17771942099999 meters 0.051381018672240215 Centerline is valid? [True, True] Translation: X:85.55, Y:-13.05, Z:-8.89 [[ 9.62662196e-01 2.59893941e-01 7.57405815e-02 8.55462532e+01] [-2.58968067e-01 9.65635944e-01 -2.19718791e-02 -1.30505176e+01] [-7.88481862e-02 1.53710534e-03 9.96885450e-01 -8.88865824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.207719421 meters 0.049337185625009085 Centerline is valid? [True, True] Translation: X:85.58, Y:-13.04, Z:-8.89 [[ 9.59499066e-01 2.70873459e-01 7.73893515e-02 8.55810370e+01] [-2.69941532e-01 9.62614738e-01 -2.24596393e-02 -1.30379560e+01] [-8.05798505e-02 6.59402823e-04 9.96747938e-01 -8.89242477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.237719421 meters 0.04928530561320752 Centerline is valid? [True, True] Translation: X:85.62, Y:-13.02, Z:-8.90 [[ 9.56308442e-01 2.82843593e-01 7.39842236e-02 8.56178179e+01] [-2.82028236e-01 9.59165985e-01 -2.14636378e-02 -1.30240075e+01] [-7.70340032e-02 -3.39782050e-04 9.97028408e-01 -8.89948198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.267719421 meters 0.05056615433237624 Centerline is valid? [True, True] Translation: X:85.65, Y:-13.02, Z:-8.91 [[ 9.54799133e-01 2.88482265e-01 7.16700602e-02 8.56504850e+01] [-2.87731330e-01 9.57484947e-01 -2.08148547e-02 -1.30211851e+01] [-7.46277203e-02 -7.47716468e-04 9.97211183e-01 -8.90866053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.297719421 meters 0.05284041627446745 Centerline is valid? [True, True] Translation: X:85.68, Y:-13.01, Z:-8.91 [[ 9.52500196e-01 2.96149571e-01 7.09845633e-02 8.56825460e+01] [-2.95431862e-01 9.55140685e-01 -2.06467048e-02 -1.30116873e+01] [-7.39147572e-02 -1.30511139e-03 9.97263709e-01 -8.91418608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.327719421 meters 0.052969524259566234 Centerline is valid? [True, True] Translation: X:85.71, Y:-13.01, Z:-8.91 [[ 9.51839426e-01 2.98379358e-01 7.05086192e-02 8.57114470e+01] [-2.97677738e-01 9.54446221e-01 -2.05030700e-02 -1.30148168e+01] [-7.34143780e-02 -1.47321586e-03 9.97300436e-01 -8.91424097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.357719421 meters 0.05502002429494666 Centerline is valid? [True, True] Translation: X:85.74, Y:-13.01, Z:-8.92 [[ 9.51003865e-01 3.01306735e-01 6.93245987e-02 8.57409034e+01] [-3.00636748e-01 9.53525794e-01 -2.01520809e-02 -1.30123653e+01] [-7.21747507e-02 -1.67681509e-03 9.97390592e-01 -8.91985921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.387719421 meters 0.05415460341176668 Centerline is valid? [True, True] Translation: X:85.77, Y:-13.02, Z:-8.92 [[ 9.50936973e-01 3.01377588e-01 6.99315616e-02 8.57687666e+01] [-3.00696285e-01 9.53503360e-01 -2.03245465e-02 -1.30207268e+01] [-7.28053417e-02 -1.70079802e-03 9.97344719e-01 -8.92011951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.417719421 meters 0.054272511506110364 Centerline is valid? [True, True] Translation: X:85.80, Y:-13.03, Z:-8.93 [[ 9.51210938e-01 3.00805045e-01 6.86591326e-02 8.57960611e+01] [-3.00147221e-01 9.53684257e-01 -1.99495092e-02 -1.30268383e+01] [-7.14800469e-02 -1.63165653e-03 9.97440695e-01 -8.92546403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.447719421 meters 0.05373111685998821 Centerline is valid? [True, True] Translation: X:85.82, Y:-13.04, Z:-8.93 [[ 9.51562305e-01 2.99921411e-01 6.76485597e-02 8.58234049e+01] [-2.99281152e-01 9.53962654e-01 -1.96480575e-02 -1.30353448e+01] [-7.04270727e-02 -1.54958801e-03 9.97515727e-01 -8.92743439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.477719421 meters 0.05375268738491936 Centerline is valid? [True, True] Translation: X:85.85, Y:-13.04, Z:-8.93 [[ 9.51803681e-01 2.99426097e-01 6.64361688e-02 8.58509969e+01] [-2.98807808e-01 9.54118330e-01 -1.92900368e-02 -1.30415401e+01] [-6.91639069e-02 -1.49131800e-03 9.97604195e-01 -8.93226869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50771942099999 meters 0.05503243542181217 Centerline is valid? [True, True] Translation: X:85.88, Y:-13.05, Z:-8.94 [[ 9.51837121e-01 2.99410905e-01 6.60242697e-02 8.58781663e+01] [-2.98800593e-01 9.54123106e-01 -1.91651635e-02 -1.30454477e+01] [-6.87335403e-02 -1.48597688e-03 9.97633947e-01 -8.93915956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53771942099999 meters 0.05383180149019218 Centerline is valid? [True, True] Translation: X:85.91, Y:-13.05, Z:-8.94 [[ 9.51779225e-01 2.99112191e-01 6.81777317e-02 8.59063325e+01] [-2.98461232e-01 9.54216739e-01 -1.97815209e-02 -1.30533133e+01] [-7.09732268e-02 -1.52076917e-03 9.97477062e-01 -8.93631794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56771942099999 meters 0.05424792223495745 Centerline is valid? [True, True] Translation: X:85.93, Y:-13.06, Z:-8.94 [[ 9.51931863e-01 2.98306941e-01 6.95607463e-02 8.59335461e+01] [-2.97627593e-01 9.54468820e-01 -2.01763947e-02 -1.30600013e+01] [-7.24123221e-02 -1.49664445e-03 9.97373659e-01 -8.94008454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.597719421 meters 0.05179573073620021 Centerline is valid? [True, True] Translation: X:85.96, Y:-13.07, Z:-8.94 [[ 9.52897633e-01 2.94852753e-01 7.10489628e-02 8.59604868e+01] [-2.94134807e-01 9.55541863e-01 -2.06025119e-02 -1.30744455e+01] [-7.39649656e-02 -1.26588816e-03 9.97260037e-01 -8.93723946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.627719421 meters 0.05181614908668517 Centerline is valid? [True, True] Translation: X:85.99, Y:-13.08, Z:-8.94 [[ 9.53791158e-01 2.91888084e-01 7.13005785e-02 8.59870465e+01] [-2.91157519e-01 9.56451904e-01 -2.06652830e-02 -1.30829354e+01] [-7.42275239e-02 -1.04933527e-03 9.97240780e-01 -8.94334766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.657719421 meters 0.05058548028344205 Centerline is valid? [True, True] Translation: X:86.01, Y:-13.10, Z:-8.95 [[ 9.55933275e-01 2.84888594e-01 7.09229343e-02 8.60130333e+01] [-2.84146893e-01 9.58560499e-01 -2.05502340e-02 -1.31000661e+01] [-7.38384506e-02 -5.07878900e-04 9.97270086e-01 -8.94543039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.687719421 meters 0.05052071719371927 Centerline is valid? [True, True] Translation: X:86.04, Y:-13.12, Z:-8.95 [[ 9.59015067e-01 2.74738524e-01 6.93458304e-02 8.60392045e+01] [-2.74003879e-01 9.61518943e-01 -2.00797433e-02 -1.31235072e+01] [-7.21940086e-02 2.55749860e-04 9.97390575e-01 -8.94945437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.717719421 meters 0.050822423494629045 Centerline is valid? [True, True] Translation: X:86.07, Y:-13.14, Z:-8.95 [[ 9.60722265e-01 2.68685375e-01 6.94326956e-02 8.60682330e+01] [-2.67931498e-01 9.63227716e-01 -2.01266011e-02 -1.31395303e+01] [-7.22872201e-02 7.32867634e-04 9.97383588e-01 -8.95020025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.747719421 meters 0.051957223855147394 Centerline is valid? [True, True] Translation: X:86.10, Y:-13.15, Z:-8.95 [[ 9.62106270e-01 2.63558132e-01 6.99187849e-02 8.60968206e+01] [-2.62778010e-01 9.64642825e-01 -2.02962570e-02 -1.31531830e+01] [-7.27958978e-02 1.15403692e-03 9.97346191e-01 -8.95431551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.777719421 meters 0.056291167623179476 Centerline is valid? [True, True] Translation: X:86.12, Y:-13.17, Z:-8.96 [[ 9.64378911e-01 2.55251000e-01 6.94279688e-02 8.61233358e+01] [-2.54459046e-01 9.66873176e-01 -2.01706555e-02 -1.31681315e+01] [-7.22766207e-02 1.78558008e-03 9.97383027e-01 -8.96243563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.807719421 meters 0.05545460626290306 Centerline is valid? [True, True] Translation: X:86.16, Y:-13.18, Z:-8.96 [[ 9.65000093e-01 2.52956029e-01 6.91958681e-02 8.61553231e+01] [-2.52164012e-01 9.67475824e-01 -2.00958189e-02 -1.31751373e+01] [-7.20286880e-02 1.94375941e-03 9.97400667e-01 -8.96113497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.837719421 meters 0.05627389326629014 Centerline is valid? [True, True] Translation: X:86.19, Y:-13.19, Z:-8.96 [[ 9.65241039e-01 2.51917141e-01 6.96239215e-02 8.61850675e+01] [-2.51110817e-01 9.67746620e-01 -2.02444104e-02 -1.31854784e+01] [-7.24782287e-02 2.05741595e-03 9.97367873e-01 -8.96329290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.867719421 meters 0.05563763423693342 Centerline is valid? [True, True] Translation: X:86.22, Y:-13.19, Z:-8.97 [[ 9.64582953e-01 2.54139361e-01 7.06605381e-02 8.62171844e+01] [-2.53313157e-01 9.67165664e-01 -2.05675061e-02 -1.31876601e+01] [-7.35674591e-02 1.93982183e-03 9.97288357e-01 -8.96596542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89771942099999 meters 0.055268704836684696 Centerline is valid? [True, True] Translation: X:86.25, Y:-13.19, Z:-8.97 [[ 9.64125841e-01 2.55940145e-01 7.03988955e-02 8.62492776e+01] [-2.55123157e-01 9.66690921e-01 -2.05143299e-02 -1.31914803e+01] [-7.33044137e-02 1.81800715e-03 9.97307955e-01 -8.97033279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92771942099999 meters 0.05456733714375476 Centerline is valid? [True, True] Translation: X:86.28, Y:-13.19, Z:-8.98 [[ 9.63293765e-01 2.59401941e-01 6.91068428e-02 8.62821689e+01] [-2.58621968e-01 9.65768211e-01 -2.01603728e-02 -1.31893638e+01] [-7.19708317e-02 1.54781374e-03 9.97405536e-01 -8.97592765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.957719421 meters 0.05443052466161546 Centerline is valid? [True, True] Translation: X:86.31, Y:-13.20, Z:-8.98 [[ 9.63049198e-01 2.60450426e-01 6.85697980e-02 8.63134841e+01] [-2.59683798e-01 9.65486092e-01 -2.00232544e-02 -1.31951308e+01] [-7.14182514e-02 1.47691360e-03 9.97445363e-01 -8.98014191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.987719421 meters 0.055025474405387687 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.20, Z:-8.99 [[ 9.63214666e-01 2.60024485e-01 6.78584857e-02 8.63425819e+01] [-2.59271080e-01 9.65600836e-01 -1.98376428e-02 -1.32045088e+01] [-7.06824834e-02 1.51416553e-03 9.97497716e-01 -8.98557641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.017719421 meters 0.05570401106098615 Centerline is valid? [True, True] Translation: X:86.37, Y:-13.21, Z:-8.99 [[ 9.63551740e-01 2.59142260e-01 6.64329204e-02 8.63732387e+01] [-2.58416848e-01 9.65837898e-01 -1.94393335e-02 -1.32143678e+01] [-6.92009850e-02 1.56341774e-03 9.97601513e-01 -8.99016203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.047719421 meters 0.05612422598456553 Centerline is valid? [True, True] Translation: X:86.40, Y:-13.22, Z:-8.99 [[ 9.63693930e-01 2.58728809e-01 6.59803961e-02 8.64043114e+01] [-2.58010883e-01 9.65948672e-01 -1.93273714e-02 -1.32229382e+01] [-6.87342237e-02 1.60201018e-03 9.97633720e-01 -8.99465041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.077719421 meters 0.05633570356503917 Centerline is valid? [True, True] Translation: X:86.43, Y:-13.23, Z:-9.00 [[ 9.63687899e-01 2.58660192e-01 6.63365551e-02 8.64339074e+01] [-2.57932248e-01 9.65966977e-01 -1.94616282e-02 -1.32283336e+01] [-6.91128701e-02 1.64459881e-03 9.97607491e-01 -8.99714797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.107719421 meters 0.05565658889948089 Centerline is valid? [True, True] Translation: X:86.46, Y:-13.23, Z:-9.00 [[ 9.63080698e-01 2.60947783e-01 6.61953517e-02 8.64636005e+01] [-2.60228086e-01 9.65351781e-01 -1.94237347e-02 -1.32300712e+01] [-6.89703813e-02 1.48073433e-03 9.97617609e-01 -9.00040728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.137719421 meters 0.05505490796835467 Centerline is valid? [True, True] Translation: X:86.49, Y:-13.23, Z:-9.00 [[ 9.62530128e-01 2.62548029e-01 6.78548786e-02 8.64930699e+01] [-2.61795925e-01 9.64917913e-01 -1.99076429e-02 -1.32338550e+01] [-7.07011003e-02 1.39757530e-03 9.97496567e-01 -9.00208948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.167719421 meters 0.05397635647558767 Centerline is valid? [True, True] Translation: X:86.52, Y:-13.24, Z:-9.00 [[ 9.61754341e-01 2.64670687e-01 7.05550519e-02 8.65231861e+01] [-2.63863336e-01 9.64337994e-01 -2.06971744e-02 -1.32391098e+01] [-7.35168526e-02 1.28870596e-03 9.97293142e-01 -9.00272157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.197719421 meters 0.054091848553129845 Centerline is valid? [True, True] Translation: X:86.55, Y:-13.25, Z:-9.01 [[ 9.61794776e-01 2.64813836e-01 6.94581904e-02 8.65513714e+01] [-2.64032148e-01 9.64298741e-01 -2.03706446e-02 -1.32477299e+01] [-7.23728741e-02 1.25318434e-03 9.97376858e-01 -9.00652159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.227719421 meters 0.05506869684441229 Centerline is valid? [True, True] Translation: X:86.58, Y:-13.26, Z:-9.01 [[ 9.62553907e-01 2.62312585e-01 6.84257546e-02 8.65777400e+01] [-2.61547949e-01 9.64981918e-01 -2.00641020e-02 -1.32564835e+01] [-7.12926824e-02 1.41616398e-03 9.97454434e-01 -9.01200555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25771942099999 meters 0.057345717766655174 Centerline is valid? [True, True] Translation: X:86.61, Y:-13.26, Z:-9.02 [[ 9.63892137e-01 2.57833943e-01 6.65853272e-02 8.66057901e+01] [-2.57099421e-01 9.66187753e-01 -1.95221376e-02 -1.32633820e+01] [-6.93673973e-02 1.69818581e-03 9.97589735e-01 -9.01702235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28771942099999 meters 0.05892634318919706 Centerline is valid? [True, True] Translation: X:86.63, Y:-13.27, Z:-9.02 [[ 9.64739095e-01 2.54995977e-01 6.52344262e-02 8.66341608e+01] [-2.54284291e-01 9.66940312e-01 -1.91293645e-02 -1.32728443e+01] [-6.79557074e-02 1.86675593e-03 9.97686593e-01 -9.02164899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31771942099999 meters 0.06184890270853401 Centerline is valid? [True, True] Translation: X:86.66, Y:-13.29, Z:-9.03 [[ 9.66730881e-01 2.47718909e-01 6.37710462e-02 8.66611046e+01] [-2.47023149e-01 9.68829162e-01 -1.86980881e-02 -1.32887020e+01] [-6.64151193e-02 2.32309453e-03 9.97789374e-01 -9.02528485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.347719421 meters 0.06151468553546413 Centerline is valid? [True, True] Translation: X:86.69, Y:-13.30, Z:-9.03 [[ 9.67659292e-01 2.44245665e-01 6.30836733e-02 8.66912821e+01] [-2.43557549e-01 9.69710081e-01 -1.84953928e-02 -1.32982724e+01] [-6.56902934e-02 2.53273384e-03 9.97836846e-01 -9.02536466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.377719421 meters 0.06498360621372515 Centerline is valid? [True, True] Translation: X:86.72, Y:-13.31, Z:-9.03 [[ 9.69151217e-01 2.37816074e-01 6.47258359e-02 8.67196774e+01] [-2.37077037e-01 9.71305416e-01 -1.89806972e-02 -1.33097344e+01] [-6.73824699e-02 3.05015644e-03 9.97722556e-01 -9.02701504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.407719421 meters 0.06581796749647666 Centerline is valid? [True, True] Translation: X:86.75, Y:-13.32, Z:-9.03 [[ 9.69461823e-01 2.36207654e-01 6.59523991e-02 8.67508991e+01] [-2.35437133e-01 9.71697284e-01 -1.93324849e-02 -1.33179928e+01] [-6.86522479e-02 3.21446236e-03 9.97635473e-01 -9.02924242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.437719421 meters 0.0664619998480186 Centerline is valid? [True, True] Translation: X:86.78, Y:-13.32, Z:-9.03 [[ 9.69904949e-01 2.34344345e-01 6.60841799e-02 8.67825387e+01] [-2.33564492e-01 9.72147777e-01 -1.93991602e-02 -1.33240132e+01] [-6.87896721e-02 3.38042363e-03 9.97625458e-01 -9.03175832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.467719421 meters 0.0685784108625886 Centerline is valid? [True, True] Translation: X:86.81, Y:-13.33, Z:-9.04 [[ 9.69922980e-01 2.34116066e-01 6.66264235e-02 8.68119207e+01] [-2.33322624e-01 9.72202614e-01 -1.95609536e-02 -1.33344043e+01] [-6.93539166e-02 3.42716646e-03 9.97586231e-01 -9.03714107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.497719421 meters 0.06396841018281219 Centerline is valid? [True, True] Translation: X:86.85, Y:-13.33, Z:-9.03 [[ 9.69364149e-01 2.35520952e-01 6.97354131e-02 8.68461829e+01] [-2.34653810e-01 9.71862963e-01 -2.04931641e-02 -1.33310519e+01] [-7.25998348e-02 3.50165825e-03 9.97355003e-01 -9.03431149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.527719421 meters 0.06793090875159066 Centerline is valid? [True, True] Translation: X:86.87, Y:-13.34, Z:-9.04 [[ 9.68891757e-01 2.37215860e-01 7.05506863e-02 8.68736846e+01] [-2.36333035e-01 9.71450978e-01 -2.07290555e-02 -1.33448107e+01] [-7.34537939e-02 3.41075313e-03 9.97292789e-01 -9.04183698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.557719421 meters 0.06146456120854124 Centerline is valid? [True, True] Translation: X:86.91, Y:-13.34, Z:-9.04 [[ 9.67627892e-01 2.42378809e-01 7.03475300e-02 8.69081163e+01] [-2.41512515e-01 9.70176932e-01 -2.06984364e-02 -1.33380003e+01] [-7.32664132e-02 3.03857549e-03 9.97307776e-01 -9.04149626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.587719421 meters 0.058960174165639215 Centerline is valid? [True, True] Translation: X:86.94, Y:-13.34, Z:-9.04 [[ 9.66737118e-01 2.46198454e-01 6.93229173e-02 8.69404196e+01] [-2.45366922e-01 9.69215649e-01 -2.03984960e-02 -1.33375630e+01] [-7.22109345e-02 2.71043240e-03 9.97385700e-01 -9.04471320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.617719421 meters 0.055709101237133525 Centerline is valid? [True, True] Translation: X:86.98, Y:-13.33, Z:-9.05 [[ 9.64477783e-01 2.54793210e-01 6.97354086e-02 8.69757707e+01] [-2.53973915e-01 9.66993322e-01 -2.05223436e-02 -1.33262218e+01] [-7.26626282e-02 2.08236973e-03 9.97354404e-01 -9.04756600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64771942099999 meters 0.05402843938470317 Centerline is valid? [True, True] Translation: X:87.01, Y:-13.32, Z:-9.05 [[ 9.63031907e-01 2.59844322e-01 7.10666864e-02 8.70077545e+01] [-2.59007092e-01 9.65648963e-01 -2.09142501e-02 -1.33247666e+01] [-7.40599212e-02 1.73431441e-03 9.97252285e-01 -9.04906800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67771942099999 meters 0.0531910694194824 Centerline is valid? [True, True] Translation: X:87.04, Y:-13.32, Z:-9.06 [[ 9.60412653e-01 2.69689035e-01 6.98237773e-02 8.70380142e+01] [-2.68906800e-01 9.62946990e-01 -2.05481804e-02 -1.33194157e+01] [-7.27782151e-02 9.58643983e-04 9.97347689e-01 -9.06129510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.707719421 meters 0.05186289328589335 Centerline is valid? [True, True] Translation: X:87.07, Y:-13.32, Z:-9.06 [[ 9.59360273e-01 2.73986777e-01 6.75212084e-02 8.70683279e+01] [-2.73266238e-01 9.61733267e-01 -1.98667296e-02 -1.33190633e+01] [-7.03806136e-02 6.08084491e-04 9.97520025e-01 -9.06254033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.737719421 meters 0.05149902933117083 Centerline is valid? [True, True] Translation: X:87.10, Y:-13.32, Z:-9.07 [[ 9.58104187e-01 2.78832609e-01 6.54884964e-02 8.70989643e+01] [-2.78166013e-01 9.60339688e-01 -1.92705388e-02 -1.33151936e+01] [-6.82644568e-02 2.46509991e-04 9.97667231e-01 -9.06896817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.767719421 meters 0.05149902933117083 Centerline is valid? [True, True] Translation: X:87.13, Y:-13.32, Z:-9.07 [[ 9.58139705e-01 2.78708809e-01 6.54958480e-02 8.71252599e+01] [-2.78043635e-01 9.60375628e-01 -1.92455152e-02 -1.33227554e+01] [-6.82645108e-02 2.29188547e-04 9.97667231e-01 -9.07178593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.797719421 meters 0.05168538073114804 Centerline is valid? [True, True] Translation: X:87.16, Y:-13.31, Z:-9.08 [[ 9.56577275e-01 2.83367761e-01 6.82834516e-02 8.71564799e+01] [-2.82657288e-01 9.59011313e-01 -2.00539090e-02 -1.33123780e+01] [-7.11672339e-02 -1.17701590e-04 9.97464391e-01 -9.07972140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.827719421 meters 0.05110688948809832 Centerline is valid? [True, True] Translation: X:87.19, Y:-13.31, Z:-9.08 [[ 9.55576584e-01 2.86678246e-01 6.84760913e-02 8.71858426e+01] [-2.85972258e-01 9.58026852e-01 -2.01101460e-02 -1.33125488e+01] [-7.13670756e-02 -3.65477835e-04 9.97450052e-01 -9.07506892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.857719421 meters 0.05181176941517626 Centerline is valid? [True, True] Translation: X:87.21, Y:-13.31, Z:-9.08 [[ 9.53727395e-01 2.93047449e-01 6.72848372e-02 8.72145388e+01] [-2.92383862e-01 9.56097515e-01 -1.97286553e-02 -1.33148155e+01] [-7.01122977e-02 -8.57241498e-04 9.97538737e-01 -9.07775904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.887719421 meters 0.05236284068411891 Centerline is valid? [True, True] Translation: X:87.24, Y:-13.32, Z:-9.08 [[ 9.53180402e-01 2.94515621e-01 6.86124657e-02 8.72409723e+01] [-2.93829960e-01 9.55646150e-01 -2.01094586e-02 -1.33214553e+01] [-7.14917884e-02 -9.92456279e-04 9.97440695e-01 -9.08300857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.917719421 meters 0.05178224931388278 Centerline is valid? [True, True] Translation: X:87.27, Y:-13.33, Z:-9.08 [[ 9.53244917e-01 2.93980731e-01 6.99961286e-02 8.72680230e+01] [-2.93265858e-01 9.55810850e-01 -2.05123317e-02 -1.33312771e+01] [-7.29332894e-02 -9.74198795e-04 9.97336346e-01 -9.08354465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.947719421 meters 0.05189368421741767 Centerline is valid? [True, True] Translation: X:87.30, Y:-13.34, Z:-9.09 [[ 9.53568545e-01 2.93125080e-01 6.91716534e-02 8.72954514e+01] [-2.92426342e-01 9.56073659e-01 -2.02482723e-02 -1.33388560e+01] [-7.20684722e-02 -9.19498075e-04 9.97399263e-01 -9.08761261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.977719421 meters 0.052419579428136784 Centerline is valid? [True, True] Translation: X:87.32, Y:-13.35, Z:-9.10 [[ 9.54857075e-01 2.89538505e-01 6.64486244e-02 8.73202970e+01] [-2.88886981e-01 9.57166147e-01 -1.94236878e-02 -1.33486216e+01] [-6.92262793e-02 -6.49296827e-04 9.97600772e-01 -9.09742123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00771942099999 meters 0.051500250543997 Centerline is valid? [True, True] Translation: X:87.35, Y:-13.36, Z:-9.10 [[ 9.55730304e-01 2.86320373e-01 6.78249987e-02 8.73472885e+01] [-2.85633622e-01 9.58133843e-01 -1.98235329e-02 -1.33616045e+01] [-7.06613080e-02 -4.27148910e-04 9.97500274e-01 -9.09665349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03771942099999 meters 0.05097273642864681 Centerline is valid? [True, True] Translation: X:87.37, Y:-13.38, Z:-9.10 [[ 9.57661987e-01 2.78874517e-01 7.15019026e-02 8.73704932e+01] [-2.78092570e-01 9.60327545e-01 -2.08693357e-02 -1.33829595e+01] [-7.44851725e-02 1.01621646e-04 9.97222116e-01 -9.09742802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06771942099999 meters 0.05053355059732496 Centerline is valid? [True, True] Translation: X:87.40, Y:-13.40, Z:-9.09 [[ 9.58754913e-01 2.74494433e-01 7.37687116e-02 8.73960548e+01] [-2.73649623e-01 9.61588584e-01 -2.15239258e-02 -1.33986867e+01] [-7.68433487e-02 4.49389422e-04 9.97043077e-01 -9.09492664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.097719421 meters 0.051267341385835954 Centerline is valid? [True, True] Translation: X:87.42, Y:-13.42, Z:-9.10 [[ 9.61025383e-01 2.66337283e-01 7.41260093e-02 8.74205523e+01] [-2.65460449e-01 9.63879265e-01 -2.16220338e-02 -1.34160731e+01] [-7.72072771e-02 1.10179957e-03 9.97014454e-01 -9.09598686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.127719421 meters 0.05340822614419877 Centerline is valid? [True, True] Translation: X:87.44, Y:-13.43, Z:-9.11 [[ 9.62009889e-01 2.62903743e-01 7.36111055e-02 8.74444660e+01] [-2.62029599e-01 9.64821108e-01 -2.14643563e-02 -1.34298441e+01] [-7.66646080e-02 1.36063456e-03 9.97056010e-01 -9.10532125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.157719421 meters 0.05398484190304902 Centerline is valid? [True, True] Translation: X:87.47, Y:-13.44, Z:-9.11 [[ 9.63650447e-01 2.57861630e-01 6.98941764e-02 8.74737223e+01] [-2.57061525e-01 9.66180434e-01 -2.03651860e-02 -1.34383302e+01] [-7.27817858e-02 1.65781702e-03 9.97346511e-01 -9.10678557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.187719421 meters 0.054772734821394296 Centerline is valid? [True, True] Translation: X:87.50, Y:-13.45, Z:-9.11 [[ 9.64248718e-01 2.56133001e-01 6.79727648e-02 8.75008052e+01] [-2.55371906e-01 9.66639982e-01 -1.98074407e-02 -1.34487137e+01] [-7.07785314e-02 1.74096483e-03 9.97490536e-01 -9.11170292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.217719421 meters 0.055904174628166485 Centerline is valid? [True, True] Translation: X:87.53, Y:-13.46, Z:-9.12 [[ 9.65085091e-01 2.53537951e-01 6.57972216e-02 8.75273443e+01] [-2.52819187e-01 9.67323644e-01 -1.91683812e-02 -1.34628347e+01] [-6.85071202e-02 1.86431886e-03 9.97648886e-01 -9.11646804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.247719421 meters 0.05626480346397001 Centerline is valid? [True, True] Translation: X:87.55, Y:-13.47, Z:-9.12 [[ 9.65208981e-01 2.53190418e-01 6.53164312e-02 8.75531990e+01] [-2.52481391e-01 9.67414647e-01 -1.90275656e-02 -1.34715963e+01] [-6.80056695e-02 1.87439377e-03 9.97683174e-01 -9.12068147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.277719421 meters 0.05652432377117272 Centerline is valid? [True, True] Translation: X:87.58, Y:-13.48, Z:-9.12 [[ 9.65368945e-01 2.52512783e-01 6.55751001e-02 8.75820652e+01] [-2.51797126e-01 9.67591650e-01 -1.90946720e-02 -1.34767144e+01] [-6.82715681e-02 1.92178164e-03 9.97664924e-01 -9.12378563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.307719421 meters 0.05616491072438837 Centerline is valid? [True, True] Translation: X:87.61, Y:-13.48, Z:-9.12 [[ 9.65052317e-01 2.52987013e-01 6.83490827e-02 8.76100291e+01] [-2.52211090e-01 9.67467685e-01 -1.98958472e-02 -1.34821731e+01] [-7.11589197e-02 1.96213677e-03 9.97463061e-01 -9.12391338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.337719421 meters 0.056037262473557045 Centerline is valid? [True, True] Translation: X:87.64, Y:-13.49, Z:-9.13 [[ 9.64958033e-01 2.53211304e-01 6.88478804e-02 8.76371435e+01] [-2.52425015e-01 9.67409023e-01 -2.00348045e-02 -1.34905563e+01] [-7.16770997e-02 1.95381825e-03 9.97425975e-01 -9.12611250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.367719421 meters 0.05597377197661527 Centerline is valid? [True, True] Translation: X:87.66, Y:-13.50, Z:-9.13 [[ 9.64917541e-01 2.53254578e-01 6.92550169e-02 8.76646310e+01] [-2.52459505e-01 9.67397691e-01 -2.01471225e-02 -1.34990568e+01] [-7.20994944e-02 1.95622466e-03 9.97395526e-01 -9.12907135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39771942099999 meters 0.05387290618617827 Centerline is valid? [True, True] Translation: X:87.69, Y:-13.50, Z:-9.13 [[ 9.64383497e-01 2.54424585e-01 7.23367187e-02 8.76940789e+01] [-2.53560843e-01 9.67090659e-01 -2.10370009e-02 -1.35020042e+01] [-7.53084953e-02 1.94597711e-03 9.97158384e-01 -9.12629158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42771942099999 meters 0.05344195518871425 Centerline is valid? [True, True] Translation: X:87.72, Y:-13.51, Z:-9.13 [[ 9.63878576e-01 2.55912942e-01 7.38014747e-02 8.77214733e+01] [-2.55018674e-01 9.66698042e-01 -2.14562672e-02 -1.35067137e+01] [-7.68346776e-02 1.86048204e-03 9.97042111e-01 -9.12824110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.457719421 meters 0.051778861945839964 Centerline is valid? [True, True] Translation: X:87.75, Y:-13.50, Z:-9.13 [[ 9.61841875e-01 2.63500030e-01 7.36745696e-02 8.77525752e+01] [-2.62631809e-01 9.64658587e-01 -2.14089461e-02 -1.35031084e+01] [-7.67120642e-02 1.24273534e-03 9.97052514e-01 -9.13223090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.487719421 meters 0.05092737999728716 Centerline is valid? [True, True] Translation: X:87.78, Y:-13.50, Z:-9.14 [[ 9.60429015e-01 2.68988713e-01 7.22577315e-02 8.77822879e+01] [-2.68169255e-01 9.63143007e-01 -2.09951905e-02 -1.35030384e+01] [-7.52419981e-02 7.87088122e-04 9.97164992e-01 -9.13660582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.517719421 meters 0.05052242789501427 Centerline is valid? [True, True] Translation: X:87.81, Y:-13.50, Z:-9.14 [[ 9.56639936e-01 2.81969493e-01 7.30290199e-02 8.78136581e+01] [-2.81170528e-01 9.59423341e-01 -2.12129071e-02 -1.34950014e+01] [-7.60471389e-02 -2.40494003e-04 9.97104195e-01 -9.14081367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.547719421 meters 0.05184376664122652 Centerline is valid? [True, True] Translation: X:87.84, Y:-13.49, Z:-9.14 [[ 9.53545650e-01 2.91997771e-01 7.40810053e-02 8.78429162e+01] [-2.91206285e-01 9.56418410e-01 -2.15110149e-02 -1.34930845e+01] [-7.71336057e-02 -1.06111968e-03 9.97020201e-01 -9.14390903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.577719421 meters 0.05266691395107027 Centerline is valid? [True, True] Translation: X:87.87, Y:-13.50, Z:-9.15 [[ 9.52697170e-01 2.94987601e-01 7.31465489e-02 8.78710974e+01] [-2.94225718e-01 9.55500198e-01 -2.12272784e-02 -1.34965849e+01] [-7.61533260e-02 -1.29842786e-03 9.97095274e-01 -9.14829099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.607719421 meters 0.05399691609727951 Centerline is valid? [True, True] Translation: X:87.90, Y:-13.50, Z:-9.15 [[ 9.51975104e-01 2.97956326e-01 7.04657979e-02 8.79010720e+01] [-2.97258547e-01 9.54578334e-01 -2.04342778e-02 -1.34988150e+01] [-7.33536463e-02 -1.49363690e-03 9.97304874e-01 -9.15409064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.637719421 meters 0.05450715583150051 Centerline is valid? [True, True] Translation: X:87.93, Y:-13.51, Z:-9.16 [[ 9.52312187e-01 2.97487115e-01 6.78447908e-02 8.79269940e+01] [-2.96839207e-01 9.54724801e-01 -1.96733237e-02 -1.35077179e+01] [-7.06256647e-02 -1.40384796e-03 9.97501902e-01 -9.15981604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.667719421 meters 0.05415123851182105 Centerline is valid? [True, True] Translation: X:87.95, Y:-13.52, Z:-9.16 [[ 9.52661889e-01 2.96712726e-01 6.63090040e-02 8.79530697e+01] [-2.96091995e-01 9.54965877e-01 -1.92276890e-02 -1.35205719e+01] [-6.90279362e-02 -1.31607881e-03 9.97613859e-01 -9.16278779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.697719421 meters 0.05497833030480741 Centerline is valid? [True, True] Translation: X:87.98, Y:-13.53, Z:-9.17 [[ 9.52653504e-01 2.97035485e-01 6.49709281e-02 8.79784760e+01] [-2.96442239e-01 9.54865502e-01 -1.88114932e-02 -1.35318546e+01] [-6.76261789e-02 -1.33929245e-03 9.97709831e-01 -9.16961489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.727719421 meters 0.05603582119000386 Centerline is valid? [True, True] Translation: X:88.01, Y:-13.54, Z:-9.17 [[ 9.51819280e-01 2.99406041e-01 6.63029474e-02 8.80054072e+01] [-2.98794366e-01 9.54124539e-01 -1.91908792e-02 -1.35392841e+01] [-6.90071343e-02 -1.54469834e-03 9.97614970e-01 -9.17212340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75771942099999 meters 0.05562549364209453 Centerline is valid? [True, True] Translation: X:88.03, Y:-13.55, Z:-9.17 [[ 9.51292171e-01 3.00757076e-01 6.77376268e-02 8.80320578e+01] [-3.00122455e-01 9.53699295e-01 -1.96001774e-02 -1.35488594e+01] [-7.04962190e-02 -1.68408748e-03 9.97510625e-01 -9.17067064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78771942099999 meters 0.05637577520550651 Centerline is valid? [True, True] Translation: X:88.06, Y:-13.56, Z:-9.17 [[ 9.50741164e-01 3.02131181e-01 6.93396579e-02 8.80579687e+01] [-3.01472278e-01 9.53264541e-01 -2.00294811e-02 -1.35596934e+01] [-7.21505680e-02 -1.86113240e-03 9.97392015e-01 -9.17279806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81771942099999 meters 0.05611206124288384 Centerline is valid? [True, True] Translation: X:88.08, Y:-13.57, Z:-9.18 [[ 9.51305200e-01 3.00624712e-01 6.81410206e-02 8.80834486e+01] [-2.99984558e-01 9.53740969e-01 -1.96832123e-02 -1.35718923e+01] [-7.09061430e-02 -1.71651173e-03 9.97481515e-01 -9.17606383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.847719421 meters 0.0539269716428773 Centerline is valid? [True, True] Translation: X:88.11, Y:-13.59, Z:-9.18 [[ 9.53394981e-01 2.93499962e-01 6.99698613e-02 8.81080076e+01] [-2.92808412e-01 9.55958264e-01 -2.01750253e-02 -1.35939361e+01] [-7.28096363e-02 -1.25299614e-03 9.97345069e-01 -9.17939214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.877719421 meters 0.05272880041899109 Centerline is valid? [True, True] Translation: X:88.13, Y:-13.61, Z:-9.18 [[ 9.54668112e-01 2.88953418e-01 7.15172602e-02 8.81334237e+01] [-2.88218138e-01 9.57342710e-01 -2.06213523e-02 -1.36099184e+01] [-7.44251379e-02 -9.26024134e-04 9.97226174e-01 -9.18051916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.907719421 meters 0.05131866005189082 Centerline is valid? [True, True] Translation: X:88.16, Y:-13.63, Z:-9.18 [[ 9.56698023e-01 2.80891304e-01 7.63476806e-02 8.81573967e+01] [-2.80028184e-01 9.59739532e-01 -2.20056230e-02 -1.36336705e+01] [-7.94550754e-02 -3.26766350e-04 9.96838394e-01 -9.17936441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.937719421 meters 0.05113393406435845 Centerline is valid? [True, True] Translation: X:88.18, Y:-13.65, Z:-9.18 [[ 9.57773116e-01 2.77235275e-01 7.62316280e-02 8.81825115e+01] [-2.76363403e-01 9.60802062e-01 -2.19697078e-02 -1.36495252e+01] [-7.93342833e-02 -2.56366705e-05 9.96848068e-01 -9.18185539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.967719421 meters 0.05174818444916342 Centerline is valid? [True, True] Translation: X:88.21, Y:-13.67, Z:-9.19 [[ 9.59866765e-01 2.70626913e-01 7.35993708e-02 8.82051431e+01] [-2.69795297e-01 9.62684178e-01 -2.12054548e-02 -1.36710028e+01] [-7.65917166e-02 4.97647130e-04 9.97062416e-01 -9.18728533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.997719421 meters 0.05237805945641361 Centerline is valid? [True, True] Translation: X:88.23, Y:-13.68, Z:-9.19 [[ 9.60763704e-01 2.67506524e-01 7.33032397e-02 8.82315806e+01] [-2.66673170e-01 9.63555768e-01 -2.11116519e-02 -1.36836190e+01] [-7.62792641e-02 7.35301593e-04 9.97086222e-01 -9.19169957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.027719421 meters 0.05264119336911216 Centerline is valid? [True, True] Translation: X:88.26, Y:-13.69, Z:-9.19 [[ 9.61716947e-01 2.64418212e-01 7.19966850e-02 8.82590340e+01] [-2.63606131e-01 9.64407638e-01 -2.07295551e-02 -1.36927955e+01] [-7.49154249e-02 9.57196804e-04 9.97189432e-01 -9.19390000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.057719421 meters 0.05260882026338191 Centerline is valid? [True, True] Translation: X:88.29, Y:-13.70, Z:-9.20 [[ 9.61645356e-01 2.64703435e-01 7.19048062e-02 8.82866105e+01] [-2.63894730e-01 9.64329421e-01 -2.06963699e-02 -1.37006438e+01] [-7.48183203e-02 9.27268576e-04 9.97196750e-01 -9.19717852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.087719421 meters 0.05206727805081926 Centerline is valid? [True, True] Translation: X:88.31, Y:-13.70, Z:-9.20 [[ 9.60249276e-01 2.69906410e-01 7.12169730e-02 8.83143996e+01] [-2.69127791e-01 9.62886425e-01 -2.04930303e-02 -1.37037868e+01] [-7.41050568e-02 5.11950885e-04 9.97250309e-01 -9.19905087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.117719421 meters 0.05277814229927168 Centerline is valid? [True, True] Translation: X:88.34, Y:-13.70, Z:-9.21 [[ 9.57839889e-01 2.78932422e-01 6.88436717e-02 8.83428497e+01] [-2.78228839e-01 9.60310715e-01 -1.98001234e-02 -1.37016402e+01] [-7.16342119e-02 -1.88946800e-04 9.97430952e-01 -9.20990653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14771942099999 meters 0.05271382527671173 Centerline is valid? [True, True] Translation: X:88.37, Y:-13.71, Z:-9.21 [[ 9.56457800e-01 2.83652444e-01 6.87733143e-02 8.83719572e+01] [-2.82963082e-01 9.58926999e-01 -1.97713291e-02 -1.37058131e+01] [-7.15567737e-02 -5.49867074e-04 9.97436377e-01 -9.20797653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17771942099999 meters 0.05443681895185213 Centerline is valid? [True, True] Translation: X:88.40, Y:-13.71, Z:-9.22 [[ 9.54808494e-01 2.88958654e-01 6.95962423e-02 8.84000698e+01] [-2.88267151e-01 9.57341092e-01 -2.00020729e-02 -1.37063857e+01] [-7.24071147e-02 -9.64161432e-04 9.97374694e-01 -9.21561824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.207719421 meters 0.056277694409090154 Centerline is valid? [True, True] Translation: X:88.43, Y:-13.71, Z:-9.22 [[ 9.52044287e-01 2.98194839e-01 6.84946195e-02 8.84316978e+01] [-2.97549601e-01 9.54503598e-01 -1.96752576e-02 -1.37061468e+01] [-7.12454211e-02 -1.64883007e-03 9.97457453e-01 -9.21545058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.237719421 meters 0.0598449190887173 Centerline is valid? [True, True] Translation: X:88.46, Y:-13.70, Z:-9.22 [[ 9.49280744e-01 3.06621312e-01 6.96379158e-02 8.84626820e+01] [-3.05976985e-01 9.51828761e-01 -2.00023745e-02 -1.37028091e+01] [-7.24165254e-02 -2.31973058e-03 9.97371779e-01 -9.21827661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.267719421 meters 0.061303138714948364 Centerline is valid? [True, True] Translation: X:88.49, Y:-13.71, Z:-9.22 [[ 9.48319781e-01 3.09815118e-01 6.85870667e-02 8.84920733e+01] [-3.09198646e-01 9.50793460e-01 -1.96975351e-02 -1.37082787e+01] [-7.13147286e-02 -2.52746600e-03 9.97450661e-01 -9.22109842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.297719421 meters 0.06410094956487422 Centerline is valid? [True, True] Translation: X:88.52, Y:-13.71, Z:-9.23 [[ 9.46997145e-01 3.14116163e-01 6.72862734e-02 8.85206678e+01] [-3.13533889e-01 9.49380429e-01 -1.93210275e-02 -1.37129451e+01] [-6.99493181e-02 -2.79956909e-03 9.97546618e-01 -9.22651289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.327719421 meters 0.06521600776758321 Centerline is valid? [True, True] Translation: X:88.55, Y:-13.72, Z:-9.23 [[ 9.46387430e-01 3.15862841e-01 6.76867615e-02 8.85485715e+01] [-3.15277701e-01 9.48800303e-01 -1.94411184e-02 -1.37206628e+01] [-7.03619467e-02 -2.94129647e-03 9.97517190e-01 -9.22993423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.357719421 meters 0.0667356427707489 Centerline is valid? [True, True] Translation: X:88.57, Y:-13.73, Z:-9.23 [[ 9.45249559e-01 3.18379822e-01 7.16767707e-02 8.85736759e+01] [-3.17732897e-01 9.47957346e-01 -2.05591002e-02 -1.37297680e+01] [-7.44921239e-02 -3.34058766e-03 9.97216007e-01 -9.22977322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.387719421 meters 0.06758318442844566 Centerline is valid? [True, True] Translation: X:88.60, Y:-13.74, Z:-9.23 [[ 9.44762059e-01 3.19385420e-01 7.36043839e-02 8.85998354e+01] [-3.18707136e-01 9.47618351e-01 -2.11003056e-02 -1.37386663e+01] [-7.64879949e-02 -3.52347425e-03 9.97064277e-01 -9.22908678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.417719421 meters 0.0674181156063983 Centerline is valid? [True, True] Translation: X:88.63, Y:-13.75, Z:-9.23 [[ 9.44943933e-01 3.18711415e-01 7.41889310e-02 8.86267041e+01] [-3.18020830e-01 9.47845323e-01 -2.12601882e-02 -1.37483543e+01] [-7.70954959e-02 -3.50393952e-03 9.97017556e-01 -9.23203137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.447719421 meters 0.06584591924626051 Centerline is valid? [True, True] Translation: X:88.65, Y:-13.77, Z:-9.23 [[ 9.45887509e-01 3.15822812e-01 7.45169305e-02 8.86526385e+01] [-3.15119344e-01 9.48812414e-01 -2.13260744e-02 -1.37655835e+01] [-7.74378495e-02 -3.30965886e-03 9.96991688e-01 -9.23452772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.477719421 meters 0.062164072020077725 Centerline is valid? [True, True] Translation: X:88.68, Y:-13.79, Z:-9.23 [[ 9.46470332e-01 3.14106306e-01 7.43716288e-02 8.86776633e+01] [-3.13400071e-01 9.49382558e-01 -2.12874086e-02 -1.37852039e+01] [-7.72936364e-02 -3.16017301e-03 9.97003364e-01 -9.23425387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50771942099999 meters 0.06414302635989245 Centerline is valid? [True, True] Translation: X:88.70, Y:-13.79, Z:-9.24 [[ 9.47357559e-01 3.11701484e-01 7.31836025e-02 8.87039780e+01] [-3.11012046e-01 9.50175546e-01 -2.09270224e-02 -1.37937322e+01] [-7.60602534e-02 -2.93560905e-03 9.97098902e-01 -9.24224026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53771942099999 meters 0.05868536743788966 Centerline is valid? [True, True] Translation: X:88.73, Y:-13.82, Z:-9.25 [[ 9.50036905e-01 3.03862590e-01 7.13961164e-02 8.87268657e+01] [-3.03186483e-01 9.52713145e-01 -2.03867599e-02 -1.38215362e+01] [-7.42147923e-02 -2.27816316e-03 9.97239678e-01 -9.24762443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56771942099999 meters 0.056766623480546896 Centerline is valid? [True, True] Translation: X:88.75, Y:-13.84, Z:-9.25 [[ 9.51790413e-01 2.98527636e-01 7.05426165e-02 8.87519058e+01] [-2.97852946e-01 9.54399218e-01 -2.01433441e-02 -1.38381383e+01] [-7.33391630e-02 -1.83908435e-03 9.97305362e-01 -9.25223999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.597719421 meters 0.05488105388640226 Centerline is valid? [True, True] Translation: X:88.78, Y:-13.86, Z:-9.26 [[ 9.54594313e-01 2.89508637e-01 7.02456099e-02 8.87750458e+01] [-2.88815714e-01 9.57174714e-01 -2.00512027e-02 -1.38606524e+01] [-7.30423179e-02 -1.14727186e-03 9.97328182e-01 -9.25903078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.627719421 meters 0.05334806393038492 Centerline is valid? [True, True] Translation: X:88.80, Y:-13.89, Z:-9.26 [[ 9.56874084e-01 2.82026358e-01 6.96643484e-02 8.87977948e+01] [-2.81325161e-01 9.59406486e-01 -1.98833655e-02 -1.38853116e+01] [-7.24440608e-02 -5.72456931e-04 9.97372313e-01 -9.26184717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.657719421 meters 0.052406506933522 Centerline is valid? [True, True] Translation: X:88.82, Y:-13.90, Z:-9.26 [[ 9.57974569e-01 2.78318283e-01 6.94525698e-02 8.88232989e+01] [-2.77611993e-01 9.60488858e-01 -1.98175607e-02 -1.39010957e+01] [-7.22240089e-02 -2.96147121e-04 9.97388392e-01 -9.26167400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.687719421 meters 0.052406506933522 Centerline is valid? [True, True] Translation: X:88.85, Y:-13.91, Z:-9.26 [[ 9.57996656e-01 2.78241852e-01 6.94541472e-02 8.88504460e+01] [-2.77535762e-01 9.60511002e-01 -1.98120303e-02 -1.39087222e+01] [-7.22240085e-02 -2.96150903e-04 9.97388392e-01 -9.26457621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.717719421 meters 0.05257188130198583 Centerline is valid? [True, True] Translation: X:88.88, Y:-13.92, Z:-9.27 [[ 9.58762331e-01 2.75905589e-01 6.81974902e-02 8.88764116e+01] [-2.75219558e-01 9.61184732e-01 -1.94449225e-02 -1.39195545e+01] [-7.09153492e-02 -1.26223915e-04 9.97482329e-01 -9.26858961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.747719421 meters 0.05263028650222802 Centerline is valid? [True, True] Translation: X:88.91, Y:-13.92, Z:-9.27 [[ 9.58145167e-01 2.77943208e-01 6.85960041e-02 8.89058386e+01] [-2.77254080e-01 9.60597469e-01 -1.95621370e-02 -1.39227239e+01] [-7.13303110e-02 -2.75155040e-04 9.97452711e-01 -9.27074065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.777719421 meters 0.05303219177144081 Centerline is valid? [True, True] Translation: X:88.94, Y:-13.92, Z:-9.27 [[ 9.55509490e-01 2.86584000e-01 6.97941655e-02 8.89366476e+01] [-2.85893938e-01 9.58054657e-01 -1.98980197e-02 -1.39211428e+01] [-7.25690794e-02 -9.40982128e-04 9.97362945e-01 -9.26675610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.807719421 meters 0.05402549998332482 Centerline is valid? [True, True] Translation: X:88.97, Y:-13.93, Z:-9.27 [[ 9.53941416e-01 2.91563015e-01 7.06171588e-02 8.89653813e+01] [-2.90870651e-01 9.56550683e-01 -2.01260028e-02 -1.39250479e+01] [-7.34168895e-02 -1.34143133e-03 9.97300437e-01 -9.26847094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.837719421 meters 0.05663044581970148 Centerline is valid? [True, True] Translation: X:88.99, Y:-13.93, Z:-9.27 [[ 9.51101004e-01 3.00318458e-01 7.22198270e-02 8.89943783e+01] [-2.99619907e-01 9.53836749e-01 -2.05758998e-02 -1.39262088e+01] [-7.50652476e-02 -2.06873885e-03 9.97176478e-01 -9.26979841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.867719421 meters 0.06059019238969154 Centerline is valid? [True, True] Translation: X:89.03, Y:-13.92, Z:-9.28 [[ 9.48723705e-01 3.08313170e-01 6.97590128e-02 8.90250551e+01] [-3.07683726e-01 9.51281312e-01 -1.98642770e-02 -1.39223334e+01] [-7.24848634e-02 -2.61800247e-03 9.97366077e-01 -9.27674772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89771942099999 meters 0.06309762882303892 Centerline is valid? [True, True] Translation: X:89.05, Y:-13.92, Z:-9.28 [[ 9.47317337e-01 3.12526661e-01 7.01209675e-02 8.90537580e+01] [-3.11901498e-01 9.49904417e-01 -1.99763290e-02 -1.39230335e+01] [-7.28513522e-02 -2.94691199e-03 9.97338456e-01 -9.28048846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92771942099999 meters 0.0655895022201524 Centerline is valid? [True, True] Translation: X:89.08, Y:-13.93, Z:-9.28 [[ 9.46078494e-01 3.16546961e-01 6.88004720e-02 8.90828360e+01] [-3.15956285e-01 9.48571435e-01 -1.95922940e-02 -1.39290636e+01] [-7.14640436e-02 -3.20209353e-03 9.97438037e-01 -9.28479430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.957719421 meters 0.06612034099757519 Centerline is valid? [True, True] Translation: X:89.11, Y:-13.94, Z:-9.29 [[ 9.46084688e-01 3.16598036e-01 6.84795340e-02 8.91088567e+01] [-3.16012963e-01 9.48554429e-01 -1.95013527e-02 -1.39404162e+01] [-7.11306553e-02 -3.19048926e-03 9.97461904e-01 -9.28925280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.987719421 meters 0.06500428772884212 Centerline is valid? [True, True] Translation: X:89.13, Y:-13.95, Z:-9.29 [[ 9.46780620e-01 3.14697236e-01 6.76173546e-02 8.91342891e+01] [-3.14122379e-01 9.49187317e-01 -1.92501479e-02 -1.39546594e+01] [-7.02395037e-02 -3.01445735e-03 9.97525601e-01 -9.29348440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.017719421 meters 0.06078397123919937 Centerline is valid? [True, True] Translation: X:89.16, Y:-13.97, Z:-9.30 [[ 9.48729862e-01 3.08609795e-01 6.83494252e-02 8.91603670e+01] [-3.08007270e-01 9.51185174e-01 -1.94495744e-02 -1.39748502e+01] [-7.10152891e-02 -2.59972779e-03 9.97471839e-01 -9.29537062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.047719421 meters 0.05779331546491863 Centerline is valid? [True, True] Translation: X:89.19, Y:-13.99, Z:-9.30 [[ 9.50393998e-01 3.02815770e-01 7.10904918e-02 8.91876099e+01] [-3.02147571e-01 9.53046451e-01 -2.02313555e-02 -1.39912683e+01] [-7.38789144e-02 -2.25206060e-03 9.97264676e-01 -9.29599225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.077719421 meters 0.057005037915101815 Centerline is valid? [True, True] Translation: X:89.21, Y:-14.00, Z:-9.30 [[ 9.51250989e-01 3.00216176e-01 7.06526919e-02 8.92141263e+01] [-2.99548930e-01 9.53869017e-01 -2.01081134e-02 -1.40042881e+01] [-7.34301946e-02 -2.03607551e-03 9.97298281e-01 -9.29960398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.107719421 meters 0.05711149137944727 Centerline is valid? [True, True] Translation: X:89.24, Y:-14.02, Z:-9.31 [[ 9.52356437e-01 2.97267561e-01 6.81851428e-02 8.92371308e+01] [-2.96638801e-01 9.54792618e-01 -1.94030677e-02 -1.40212718e+01] [-7.08705736e-02 -1.74772257e-03 9.97483988e-01 -9.30767954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.137719421 meters 0.056486093807689916 Centerline is valid? [True, True] Translation: X:89.26, Y:-14.03, Z:-9.31 [[ 9.52875303e-01 2.95792281e-01 6.73467460e-02 8.92632813e+01] [-2.95175857e-01 9.55250900e-01 -1.91554644e-02 -1.40333937e+01] [-6.99990782e-02 -1.62636451e-03 9.97545730e-01 -9.31025752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.167719421 meters 0.055649036066103955 Centerline is valid? [True, True] Translation: X:89.29, Y:-14.04, Z:-9.31 [[ 9.53375729e-01 2.94229574e-01 6.71094429e-02 8.92907040e+01] [-2.93614022e-01 9.55733578e-01 -1.90822860e-02 -1.40434654e+01] [-6.97533208e-02 -1.51168508e-03 9.97563125e-01 -9.31236544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.197719421 meters 0.05589185867329702 Centerline is valid? [True, True] Translation: X:89.32, Y:-14.05, Z:-9.32 [[ 9.53410824e-01 2.94088304e-01 6.72299777e-02 8.93180648e+01] [-2.93470554e-01 9.55777062e-01 -1.91113090e-02 -1.40484119e+01] [-6.98772830e-02 -1.50908997e-03 9.97554454e-01 -9.31642155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.227719421 meters 0.055458359649176614 Centerline is valid? [True, True] Translation: X:89.35, Y:-14.06, Z:-9.32 [[ 9.53904509e-01 2.92330536e-01 6.78899439e-02 8.93455737e+01] [-2.91696768e-01 9.56316313e-01 -1.92900128e-02 -1.40582677e+01] [-7.05633207e-02 -1.40244703e-03 9.97506316e-01 -9.31894616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25771942099999 meters 0.05534093876117124 Centerline is valid? [True, True] Translation: X:89.37, Y:-14.07, Z:-9.32 [[ 9.54419994e-01 2.90724745e-01 6.75395992e-02 8.93719114e+01] [-2.90093753e-01 9.56805875e-01 -1.91867614e-02 -1.40701479e+01] [-7.02003517e-02 -1.28058710e-03 9.97532090e-01 -9.32318862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28771942099999 meters 0.05409320985565969 Centerline is valid? [True, True] Translation: X:89.40, Y:-14.09, Z:-9.33 [[ 9.56645089e-01 2.83967930e-01 6.47486635e-02 8.93971958e+01] [-2.83373168e-01 9.58833477e-01 -1.83850611e-02 -1.40910288e+01] [-6.73039539e-02 -7.60055476e-04 9.97732229e-01 -9.32895735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31771942099999 meters 0.05257694759172572 Centerline is valid? [True, True] Translation: X:89.42, Y:-14.11, Z:-9.33 [[ 9.59323005e-01 2.73893512e-01 6.84230680e-02 8.94226754e+01] [-2.73203377e-01 9.61760023e-01 -1.94312427e-02 -1.41095066e+01] [-7.11286627e-02 -5.25751414e-05 9.97467148e-01 -9.32859363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.347719421 meters 0.05212536464724216 Centerline is valid? [True, True] Translation: X:89.45, Y:-14.12, Z:-9.33 [[ 9.60614618e-01 2.69108477e-01 6.92833518e-02 8.94526420e+01] [-2.68389249e-01 9.63109828e-01 -1.96639390e-02 -1.41227746e+01] [-7.20192097e-02 2.94560566e-04 9.97403202e-01 -9.32582310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.377719421 meters 0.053120942043964885 Centerline is valid? [True, True] Translation: X:89.48, Y:-14.14, Z:-9.33 [[ 9.62830479e-01 2.60133218e-01 7.27198510e-02 8.94788782e+01] [-2.59313171e-01 9.65572176e-01 -2.06652397e-02 -1.41431389e+01] [-7.55919801e-02 1.03990754e-03 9.97138291e-01 -9.32622242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.407719421 meters 0.0549315677431339 Centerline is valid? [True, True] Translation: X:89.51, Y:-14.16, Z:-9.33 [[ 9.63607176e-01 2.56501182e-01 7.52884738e-02 8.95068597e+01] [-2.55609227e-01 9.66542912e-01 -2.14178146e-02 -1.41605340e+01] [-7.82632354e-02 1.39393128e-03 9.96931754e-01 -9.33041112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.437719421 meters 0.05720318564174241 Centerline is valid? [True, True] Translation: X:89.54, Y:-14.18, Z:-9.33 [[ 9.65275918e-01 2.49789515e-01 7.64696076e-02 8.95355923e+01] [-2.48845665e-01 9.68298092e-01 -2.17862140e-02 -1.41764588e+01] [-7.94873430e-02 2.00057736e-03 9.96833868e-01 -9.33116941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.467719421 meters 0.056896843439083855 Centerline is valid? [True, True] Translation: X:89.57, Y:-14.18, Z:-9.33 [[ 9.66128015e-01 2.46911452e-01 7.50426090e-02 8.95666673e+01] [-2.45993810e-01 9.69035557e-01 -2.13807209e-02 -1.41831642e+01] [-7.79981012e-02 2.19649616e-03 9.96951088e-01 -9.33245267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.497719421 meters 0.05946711368105066 Centerline is valid? [True, True] Translation: X:89.59, Y:-14.19, Z:-9.34 [[ 9.67477827e-01 2.42485755e-01 7.20230079e-02 8.95943853e+01] [-2.41626241e-01 9.70151803e-01 -2.05484612e-02 -1.41940649e+01] [-7.48559601e-02 2.47753194e-03 9.97191279e-01 -9.34010304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.527719421 meters 0.059353720875778046 Centerline is valid? [True, True] Translation: X:89.63, Y:-14.20, Z:-9.34 [[ 9.68189986e-01 2.40446956e-01 6.92344697e-02 8.96252614e+01] [-2.39647595e-01 9.70658975e-01 -1.97530734e-02 -1.41976036e+01] [-7.19526258e-02 2.53285369e-03 9.97404835e-01 -9.34300752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.557719421 meters 0.06070699907204485 Centerline is valid? [True, True] Translation: X:89.65, Y:-14.21, Z:-9.35 [[ 9.68445426e-01 2.39521683e-01 6.88681403e-02 8.96544609e+01] [-2.38728317e-01 9.70887562e-01 -1.96502507e-02 -1.42057376e+01] [-7.15698820e-02 2.58942015e-03 9.97432227e-01 -9.34763206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.587719421 meters 0.06227153388368908 Centerline is valid? [True, True] Translation: X:89.69, Y:-14.21, Z:-9.35 [[ 9.69244476e-01 2.35684104e-01 7.08388912e-02 8.96866772e+01] [-2.34833305e-01 9.71825182e-01 -2.02270771e-02 -1.42100030e+01] [-7.36102189e-02 2.96965184e-03 9.97282666e-01 -9.34711730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.617719421 meters 0.06327703010653736 Centerline is valid? [True, True] Translation: X:89.72, Y:-14.21, Z:-9.35 [[ 9.70357101e-01 2.31717642e-01 6.86588009e-02 8.97180588e+01] [-2.30908051e-01 9.72777900e-01 -1.96119746e-02 -1.42112697e+01] [-7.13342047e-02 3.17674888e-03 9.97447412e-01 -9.35023415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64771942099999 meters 0.06708216089435037 Centerline is valid? [True, True] Translation: X:89.75, Y:-14.22, Z:-9.36 [[ 9.71280630e-01 2.28591497e-01 6.60292806e-02 8.97451193e+01] [-2.27835277e-01 9.73516907e-01 -1.88658114e-02 -1.42219225e+01] [-6.85931850e-02 3.28019773e-03 9.97639321e-01 -9.35908310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67771942099999 meters 0.06714613382863778 Centerline is valid? [True, True] Translation: X:89.78, Y:-14.23, Z:-9.36 [[ 9.72240525e-01 2.25132868e-01 6.37460112e-02 8.97759621e+01] [-2.24420816e-01 9.74322139e-01 -1.82117431e-02 -1.42264623e+01] [-6.62092119e-02 3.40026276e-03 9.97799969e-01 -9.36195763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.707719421 meters 0.07166255479545629 Centerline is valid? [True, True] Translation: X:89.81, Y:-14.23, Z:-9.37 [[ 9.73129738e-01 2.20471502e-01 6.64140806e-02 8.98059935e+01] [-2.19687387e-01 9.75385707e-01 -1.89782466e-02 -1.42321584e+01] [-6.89635075e-02 3.87796030e-03 9.97611646e-01 -9.36509803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.737719421 meters 0.06953219558215097 Centerline is valid? [True, True] Translation: X:89.84, Y:-14.23, Z:-9.36 [[ 9.73434932e-01 2.18632914e-01 6.80005975e-02 8.98402537e+01] [-2.17806909e-01 9.75798578e-01 -1.94238473e-02 -1.42320941e+01] [-7.06015787e-02 4.09685158e-03 9.97496182e-01 -9.36274595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.767719421 meters 0.07245491039807661 Centerline is valid? [True, True] Translation: X:89.87, Y:-14.24, Z:-9.36 [[ 9.73853457e-01 2.15973408e-01 7.04622629e-02 8.98717786e+01] [-2.15077309e-01 9.76388992e-01 -2.01565705e-02 -1.42355000e+01] [-7.31518611e-02 4.47471205e-03 9.97310775e-01 -9.36313392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.797719421 meters 0.0730074919172807 Centerline is valid? [True, True] Translation: X:89.90, Y:-14.23, Z:-9.37 [[ 9.73715610e-01 2.16435153e-01 7.09488202e-02 8.99040706e+01] [-2.15527264e-01 9.76286725e-01 -2.03034431e-02 -1.42341778e+01] [-7.36607701e-02 4.47837442e-03 9.97273300e-01 -9.36580277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.827719421 meters 0.07286200701802753 Centerline is valid? [True, True] Translation: X:89.94, Y:-14.24, Z:-9.37 [[ 9.73669935e-01 2.16878195e-01 7.02189933e-02 8.99372407e+01] [-2.15988703e-01 9.76188679e-01 -2.01132489e-02 -1.42383962e+01] [-7.29091115e-02 4.41715645e-03 9.97328807e-01 -9.37058711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.857719421 meters 0.07697521128337691 Centerline is valid? [True, True] Translation: X:89.97, Y:-14.24, Z:-9.38 [[ 9.73730438e-01 2.17401365e-01 6.77176564e-02 8.99672349e+01] [-2.16573680e-01 9.76073059e-01 -1.94222784e-02 -1.42424063e+01] [-7.03198099e-02 4.24620158e-03 9.97515461e-01 -9.38088849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.887719421 meters 0.07323360674758503 Centerline is valid? [True, True] Translation: X:90.00, Y:-14.24, Z:-9.38 [[ 9.73581914e-01 2.17987982e-01 6.79668762e-02 9.00012855e+01] [-2.17154250e-01 9.75942251e-01 -1.95129083e-02 -1.42401726e+01] [-7.05853257e-02 4.23811855e-03 9.97496742e-01 -9.38021557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.917719421 meters 0.07282003709955276 Centerline is valid? [True, True] Translation: X:90.04, Y:-14.24, Z:-9.38 [[ 9.73429365e-01 2.17623759e-01 7.12402331e-02 9.00356434e+01] [-2.16704900e-01 9.76022388e-01 -2.04764599e-02 -1.42376043e+01] [-7.39882266e-02 4.49427978e-03 9.97248988e-01 -9.37942817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.947719421 meters 0.07267776970999347 Centerline is valid? [True, True] Translation: X:90.07, Y:-14.24, Z:-9.38 [[ 9.73499219e-01 2.17000465e-01 7.21808138e-02 9.00682503e+01] [-2.16053694e-01 9.76160546e-01 -2.07699164e-02 -1.42405410e+01] [-7.49671442e-02 4.62456592e-03 9.97175281e-01 -9.38055462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.977719421 meters 0.07298385602585143 Centerline is valid? [True, True] Translation: X:90.10, Y:-14.24, Z:-9.38 [[ 9.73863222e-01 2.13415956e-01 7.77435168e-02 9.01027138e+01] [-2.12303386e-01 9.76946989e-01 -2.24020735e-02 -1.42375960e+01] [-8.07322546e-02 5.31134360e-03 9.96721673e-01 -9.37841666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00771942099999 meters 0.07783038913211099 Centerline is valid? [True, True] Translation: X:90.13, Y:-14.25, Z:-9.38 [[ 9.74275875e-01 2.10973521e-01 7.92255779e-02 9.01308325e+01] [-2.09809242e-01 9.77475571e-01 -2.28383429e-02 -1.42473220e+01] [-8.22593526e-02 5.62858811e-03 9.96595062e-01 -9.38299707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03771942099999 meters 0.08103248931799097 Centerline is valid? [True, True] Translation: X:90.16, Y:-14.25, Z:-9.39 [[ 9.75281109e-01 2.07264326e-01 7.66045588e-02 9.01616062e+01] [-2.06164569e-01 9.78268114e-01 -2.20831753e-02 -1.42465409e+01] [-7.95168517e-02 5.74415776e-03 9.96816972e-01 -9.39037417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06771942099999 meters 0.07517109728431932 Centerline is valid? [True, True] Translation: X:90.20, Y:-14.24, Z:-9.39 [[ 9.75463590e-01 2.06657410e-01 7.59177154e-02 9.01972290e+01] [-2.05576221e-01 9.78396573e-01 -2.18760937e-02 -1.42381592e+01] [-7.87984894e-02 5.73245590e-03 9.96874083e-01 -9.39269941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.097719421 meters 0.08291512488556721 Centerline is valid? [True, True] Translation: X:90.23, Y:-14.24, Z:-9.40 [[ 9.75498744e-01 2.06848029e-01 7.49405979e-02 9.02283627e+01] [-2.05793188e-01 9.78356671e-01 -2.16191552e-02 -1.42403228e+01] [-7.77905136e-02 5.66719417e-03 9.96953619e-01 -9.40109394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.127719421 meters 0.07494063930563026 Centerline is valid? [True, True] Translation: X:90.26, Y:-14.23, Z:-9.40 [[ 9.75252363e-01 2.08362172e-01 7.39461481e-02 9.02631805e+01] [-2.07337184e-01 9.78036263e-01 -2.13625946e-02 -1.42271332e+01] [-7.67731710e-02 5.50213481e-03 9.97033403e-01 -9.40092818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.157719421 meters 0.07409744078445586 Centerline is valid? [True, True] Translation: X:90.30, Y:-14.22, Z:-9.41 [[ 9.74528278e-01 2.11644204e-01 7.41711976e-02 9.02965266e+01] [-2.10622654e-01 9.77332646e-01 -2.14241958e-02 -1.42153418e+01] [-7.70242398e-02 5.25635018e-03 9.97015365e-01 -9.40543629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.187719421 meters 0.07088548303489957 Centerline is valid? [True, True] Translation: X:90.33, Y:-14.20, Z:-9.41 [[ 9.73158817e-01 2.17559741e-01 7.50311670e-02 9.03307566e+01] [-2.16532054e-01 9.76035003e-01 -2.16689240e-02 -1.42035106e+01] [-7.79473308e-02 4.84065168e-03 9.96945727e-01 -9.40911007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.217719421 meters 0.06945650761293143 Centerline is valid? [True, True] Translation: X:90.36, Y:-14.20, Z:-9.41 [[ 9.72442769e-01 2.20612205e-01 7.54010277e-02 9.03617538e+01] [-2.19583684e-01 9.75350679e-01 -2.17728933e-02 -1.42036308e+01] [-7.83458095e-02 4.61605724e-03 9.96915556e-01 -9.41213027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.247719421 meters 0.06528783074861967 Centerline is valid? [True, True] Translation: X:90.40, Y:-14.19, Z:-9.41 [[ 9.70758813e-01 2.27548751e-01 7.64780598e-02 9.03953920e+01] [-2.26512068e-01 9.73758001e-01 -2.20825494e-02 -1.41936429e+01] [-7.94959792e-02 4.11362594e-03 9.96826699e-01 -9.41457141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.277719421 meters 0.06470819238244535 Centerline is valid? [True, True] Translation: X:90.43, Y:-14.19, Z:-9.42 [[ 9.70016376e-01 2.30775745e-01 7.62285116e-02 9.04253217e+01] [-2.29755974e-01 9.72999413e-01 -2.20076115e-02 -1.41937080e+01] [-7.92491200e-02 3.83378768e-03 9.96847470e-01 -9.41853763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.307719421 meters 0.06187249834509284 Centerline is valid? [True, True] Translation: X:90.46, Y:-14.18, Z:-9.43 [[ 9.68583136e-01 2.37911167e-01 7.24222731e-02 9.04579421e+01] [-2.37010939e-01 9.71282021e-01 -2.09057410e-02 -1.41830871e+01] [-7.53161610e-02 3.08407724e-03 9.97154935e-01 -9.42563066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.337719421 meters 0.05950062503686679 Centerline is valid? [True, True] Translation: X:90.49, Y:-14.18, Z:-9.43 [[ 9.68070716e-01 2.40584921e-01 7.04129614e-02 9.04881046e+01] [-2.39740740e-01 9.70624054e-01 -2.03303817e-02 -1.41812707e+01] [-7.32356973e-02 2.80039171e-03 9.97310729e-01 -9.42883360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.367719421 meters 0.05754077136945543 Centerline is valid? [True, True] Translation: X:90.52, Y:-14.18, Z:-9.43 [[ 9.66548204e-01 2.46305481e-01 7.15414537e-02 9.05184659e+01] [-2.45451840e-01 9.69189334e-01 -2.06259538e-02 -1.41805707e+01] [-7.44174993e-02 2.37599717e-03 9.97224343e-01 -9.43268711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39771942099999 meters 0.055732253029391325 Centerline is valid? [True, True] Translation: X:90.55, Y:-14.18, Z:-9.44 [[ 9.65156479e-01 2.51551716e-01 7.20743056e-02 9.05494412e+01] [-2.50700108e-01 9.67841826e-01 -2.07763195e-02 -1.41775966e+01] [-7.49828463e-02 1.98336314e-03 9.97182851e-01 -9.43584112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42771942099999 meters 0.05548613433518362 Centerline is valid? [True, True] Translation: X:90.58, Y:-14.18, Z:-9.44 [[ 9.64426455e-01 2.54367624e-01 7.19633623e-02 9.05772762e+01] [-2.53526566e-01 9.67105999e-01 -2.07428822e-02 -1.41806960e+01] [-7.48725170e-02 1.76036022e-03 9.97191560e-01 -9.44043026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.457719421 meters 0.05450395253414885 Centerline is valid? [True, True] Translation: X:90.61, Y:-14.18, Z:-9.44 [[ 9.63886911e-01 2.56518845e-01 7.15549146e-02 9.06067282e+01] [-2.55693422e-01 9.66537935e-01 -2.06226548e-02 -1.41822172e+01] [-7.44506390e-02 1.58178606e-03 9.97223446e-01 -9.44286172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.487719421 meters 0.05300790149816605 Centerline is valid? [True, True] Translation: X:90.64, Y:-14.18, Z:-9.45 [[ 9.62491599e-01 2.62519296e-01 6.85094181e-02 9.06376159e+01] [-2.61779244e-01 9.64926170e-01 -1.97259706e-02 -1.41769424e+01] [-7.12849783e-02 1.05173730e-03 9.97455435e-01 -9.44602865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.517719421 meters 0.05311572029862699 Centerline is valid? [True, True] Translation: X:90.67, Y:-14.18, Z:-9.45 [[ 9.61809012e-01 2.65335305e-01 6.72354095e-02 9.06650010e+01] [-2.64631355e-01 9.64155866e-01 -1.93316105e-02 -1.41813655e+01] [-6.99547733e-02 8.00719655e-04 9.97549843e-01 -9.45305730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.547719421 meters 0.05237739155115968 Centerline is valid? [True, True] Translation: X:90.69, Y:-14.18, Z:-9.45 [[ 9.60859098e-01 2.68771470e-01 6.71691205e-02 9.06937452e+01] [-2.68077360e-01 9.63203818e-01 -1.93114923e-02 -1.41848833e+01] [-6.98879315e-02 5.49102605e-04 9.97554698e-01 -9.45375446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.577719421 meters 0.05237739155115968 Centerline is valid? [True, True] Translation: X:90.72, Y:-14.19, Z:-9.46 [[ 9.60950906e-01 2.68441695e-01 6.71744964e-02 9.07200433e+01] [-2.67748088e-01 9.63295775e-01 -1.92927703e-02 -1.41921721e+01] [-6.98878925e-02 5.53562087e-04 9.97554698e-01 -9.45656941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.607719421 meters 0.05235935132185556 Centerline is valid? [True, True] Translation: X:90.75, Y:-14.20, Z:-9.46 [[ 9.60847079e-01 2.68195531e-01 6.95991932e-02 9.07461845e+01] [-2.67452307e-01 9.63364333e-01 -1.99605827e-02 -1.42024524e+01] [-7.24027194e-02 5.64602781e-04 9.97375319e-01 -9.46013903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.637719421 meters 0.05221189407002253 Centerline is valid? [True, True] Translation: X:90.77, Y:-14.21, Z:-9.46 [[ 9.61277264e-01 2.66428109e-01 7.04420600e-02 9.07735004e+01] [-2.65663721e-01 9.63854551e-01 -2.01790058e-02 -1.42118968e+01] [-7.32721544e-02 6.83719737e-04 9.97311749e-01 -9.46123141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.667719421 meters 0.05266016619970115 Centerline is valid? [True, True] Translation: X:90.80, Y:-14.22, Z:-9.46 [[ 9.61849100e-01 2.64423579e-01 7.01888801e-02 9.07989027e+01] [-2.63661305e-01 9.64406304e-01 -2.00797845e-02 -1.42221888e+01] [-7.30001669e-02 8.07630891e-04 9.97331602e-01 -9.46313189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.697719421 meters 0.05308147966054997 Centerline is valid? [True, True] Translation: X:90.82, Y:-14.24, Z:-9.47 [[ 9.62465985e-01 2.62903931e-01 6.73851006e-02 9.08244956e+01] [-2.62198476e-01 9.64821619e-01 -1.92666015e-02 -1.42387985e+01] [-7.00798672e-02 8.75177873e-04 9.97541000e-01 -9.46931859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.727719421 meters 0.05325068486487958 Centerline is valid? [True, True] Translation: X:90.85, Y:-14.25, Z:-9.47 [[ 9.62642371e-01 2.61989858e-01 6.84176839e-02 9.08493319e+01] [-2.61260364e-01 9.65070154e-01 -1.95606827e-02 -1.42527754e+01] [-7.11525652e-02 9.55112967e-04 9.97464987e-01 -9.47339006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75771942099999 meters 0.05294642599269972 Centerline is valid? [True, True] Translation: X:90.88, Y:-14.27, Z:-9.47 [[ 9.63111070e-01 2.59370080e-01 7.17232716e-02 9.08752970e+01] [-2.58561261e-01 9.65777261e-01 -2.05025851e-02 -1.42686684e+01] [-7.45864619e-02 1.20140708e-03 9.97213827e-01 -9.47095229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78771942099999 meters 0.05299244025645665 Centerline is valid? [True, True] Translation: X:90.90, Y:-14.28, Z:-9.47 [[ 9.63508271e-01 2.57895331e-01 7.17064183e-02 9.09018499e+01] [-2.57084497e-01 9.66171996e-01 -2.04752549e-02 -1.42788494e+01] [-7.45612059e-02 1.29346891e-03 9.97215600e-01 -9.47249638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81771942099999 meters 0.053248808249445605 Centerline is valid? [True, True] Translation: X:90.93, Y:-14.29, Z:-9.47 [[ 9.63795668e-01 2.56691150e-01 7.21634477e-02 9.09283481e+01] [-2.55868171e-01 9.66492506e-01 -2.05843573e-02 -1.42888394e+01] [-7.50292537e-02 1.37478500e-03 9.97180385e-01 -9.47483279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.847719421 meters 0.05404750478520396 Centerline is valid? [True, True] Translation: X:90.95, Y:-14.30, Z:-9.48 [[ 9.64115979e-01 2.55778460e-01 7.11179186e-02 9.09522230e+01] [-2.54979063e-01 9.66734419e-01 -2.02544132e-02 -1.43039263e+01] [-7.39327823e-02 1.39402322e-03 9.97262253e-01 -9.48122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.877719421 meters 0.05353288857443178 Centerline is valid? [True, True] Translation: X:90.98, Y:-14.31, Z:-9.48 [[ 9.64234133e-01 2.55570111e-01 7.02599061e-02 9.09795932e+01] [-2.54789499e-01 9.66789524e-01 -2.00082015e-02 -1.43136045e+01] [-7.30400394e-02 1.39110464e-03 9.97328039e-01 -9.48312254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.907719421 meters 0.053666784994033885 Centerline is valid? [True, True] Translation: X:91.00, Y:-14.33, Z:-9.49 [[ 9.63980429e-01 2.56389466e-01 7.07543218e-02 9.10040999e+01] [-2.55602099e-01 9.66572668e-01 -2.01207437e-02 -1.43269024e+01] [-7.35479404e-02 1.31105001e-03 9.97290821e-01 -9.48815963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.937719421 meters 0.053475715606610214 Centerline is valid? [True, True] Translation: X:91.03, Y:-14.33, Z:-9.49 [[ 9.63743868e-01 2.57198824e-01 7.10388788e-02 9.10310367e+01] [-2.56407786e-01 9.66357702e-01 -2.01950432e-02 -1.43342593e+01] [-7.38431090e-02 1.24792740e-03 9.97269090e-01 -9.49077023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.967719421 meters 0.052193918227692974 Centerline is valid? [True, True] Translation: X:91.06, Y:-14.34, Z:-9.49 [[ 9.62613510e-01 2.61072808e-01 7.22234027e-02 9.10602746e+01] [-2.60267027e-01 9.65318641e-01 -2.05181745e-02 -1.43365569e+01] [-7.50753344e-02 9.53701607e-04 9.97177409e-01 -9.49003419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.997719421 meters 0.051788784930284125 Centerline is valid? [True, True] Translation: X:91.09, Y:-14.34, Z:-9.49 [[ 9.62133190e-01 2.62988618e-01 7.16708591e-02 9.10872679e+01] [-2.62200356e-01 9.64798605e-01 -2.03623498e-02 -1.43422043e+01] [-7.45030111e-02 7.99167792e-04 9.97220468e-01 -9.49142584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.027719421 meters 0.05148580471082557 Centerline is valid? [True, True] Translation: X:91.11, Y:-14.35, Z:-9.50 [[ 9.61344810e-01 2.65974081e-01 7.12316207e-02 9.11144727e+01] [-2.65205641e-01 9.63980030e-01 -2.02106311e-02 -1.43515585e+01] [-7.40413639e-02 5.38357768e-04 9.97255026e-01 -9.49644781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.057719421 meters 0.05148511511420451 Centerline is valid? [True, True] Translation: X:91.14, Y:-14.36, Z:-9.50 [[ 9.61219682e-01 2.66301128e-01 7.16968096e-02 9.11397664e+01] [-2.65525653e-01 9.63889761e-01 -2.03139659e-02 -1.43614540e+01] [-7.45174526e-02 4.88841684e-04 9.97219590e-01 -9.50112614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.087719421 meters 0.05138962317577381 Centerline is valid? [True, True] Translation: X:91.17, Y:-14.37, Z:-9.50 [[ 9.61529166e-01 2.64877315e-01 7.28125676e-02 9.11664228e+01] [-2.64073644e-01 9.64281930e-01 -2.06269070e-02 -1.43738459e+01] [-7.56754430e-02 6.05492688e-04 9.97132319e-01 -9.50262550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.117719421 meters 0.05162362149452422 Centerline is valid? [True, True] Translation: X:91.19, Y:-14.38, Z:-9.51 [[ 9.61983845e-01 2.63535436e-01 7.16669764e-02 9.11931688e+01] [-2.62754827e-01 9.64649477e-01 -2.02802194e-02 -1.43838127e+01] [-7.44780678e-02 6.78399492e-04 9.97222421e-01 -9.50608980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14771942099999 meters 0.05216180168565233 Centerline is valid? [True, True] Translation: X:91.22, Y:-14.40, Z:-9.51 [[ 9.62383345e-01 2.62682456e-01 6.93990200e-02 9.12184504e+01] [-2.61950256e-01 9.64882088e-01 -1.96117109e-02 -1.43956296e+01] [-7.21135237e-02 6.94892923e-04 9.97396188e-01 -9.51260139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17771942099999 meters 0.05232364151097419 Centerline is valid? [True, True] Translation: X:91.24, Y:-14.41, Z:-9.52 [[ 9.62790199e-01 2.61456687e-01 6.83771372e-02 9.12449139e+01] [-2.60742920e-01 9.65214899e-01 -1.93216835e-02 -1.44055624e+01] [-7.10504150e-02 7.73873068e-04 9.97472426e-01 -9.51621996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.207719421 meters 0.05283632730940727 Centerline is valid? [True, True] Translation: X:91.27, Y:-14.42, Z:-9.52 [[ 9.63098742e-01 2.60245868e-01 6.86505745e-02 9.12698163e+01] [-2.59525300e-01 9.65542015e-01 -1.93710002e-02 -1.44201465e+01] [-7.13262368e-02 8.39625012e-04 9.97452687e-01 -9.52136322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.237719421 meters 0.052618824384382104 Centerline is valid? [True, True] Translation: X:91.30, Y:-14.43, Z:-9.52 [[ 9.63397464e-01 2.58835012e-01 6.97836856e-02 9.12967800e+01] [-2.58086894e-01 9.65921073e-01 -1.96884508e-02 -1.44311600e+01] [-7.25015928e-02 9.57548901e-04 9.97367837e-01 -9.52186791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.267719421 meters 0.05291917527376969 Centerline is valid? [True, True] Translation: X:91.32, Y:-14.44, Z:-9.52 [[ 9.63766374e-01 2.57531620e-01 6.95114405e-02 9.13214397e+01] [-2.56787922e-01 9.66269328e-01 -1.95844115e-02 -1.44439849e+01] [-7.22103781e-02 1.02509889e-03 9.97388896e-01 -9.52474925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.297719421 meters 0.0525354947629028 Centerline is valid? [True, True] Translation: X:91.35, Y:-14.45, Z:-9.52 [[ 9.64007931e-01 2.56722663e-01 6.91533347e-02 9.13488055e+01] [-2.55984631e-01 9.66484511e-01 -1.94822549e-02 -1.44521621e+01] [-7.18371632e-02 1.07885733e-03 9.97415790e-01 -9.52471904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.327719421 meters 0.05280563231181777 Centerline is valid? [True, True] Translation: X:91.37, Y:-14.46, Z:-9.53 [[ 9.63982397e-01 2.56789178e-01 6.92622314e-02 9.13740605e+01] [-2.56050760e-01 9.66466870e-01 -1.94883723e-02 -1.44602783e+01] [-7.19440552e-02 1.05180083e-03 9.97408114e-01 -9.52912305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.357719421 meters 0.052331821063116464 Centerline is valid? [True, True] Translation: X:91.40, Y:-14.47, Z:-9.53 [[ 9.63851774e-01 2.57387362e-01 6.88585801e-02 9.14018651e+01] [-2.56660023e-01 9.66307802e-01 -1.93613909e-02 -1.44660752e+01] [-7.15219605e-02 9.88266218e-04 9.97438536e-01 -9.53015425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.387719421 meters 0.051908171072545715 Centerline is valid? [True, True] Translation: X:91.43, Y:-14.47, Z:-9.53 [[ 9.62738825e-01 2.61270536e-01 6.97972977e-02 9.14292439e+01] [-2.60535770e-01 9.65265377e-01 -1.95924705e-02 -1.44709797e+01] [-7.24918501e-02 6.77739389e-04 9.97368774e-01 -9.53366109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.417719421 meters 0.051313100844954794 Centerline is valid? [True, True] Translation: X:91.46, Y:-14.48, Z:-9.53 [[ 9.61986280e-01 2.63768109e-01 7.07727555e-02 9.14578382e+01] [-2.63019969e-01 9.64585997e-01 -1.98582507e-02 -1.44764141e+01] [-7.35043822e-02 4.88716766e-04 9.97294774e-01 -9.53419819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.447719421 meters 0.05112886369877836 Centerline is valid? [True, True] Translation: X:91.49, Y:-14.48, Z:-9.54 [[ 9.60573110e-01 2.69178617e-01 6.95857161e-02 9.14865629e+01] [-2.68471159e-01 9.63090271e-01 -1.95030021e-02 -1.44785465e+01] [-7.22671173e-02 5.23015111e-05 9.97385312e-01 -9.53762833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.477719421 meters 0.051335599445356955 Centerline is valid? [True, True] Translation: X:91.52, Y:-14.48, Z:-9.54 [[ 9.58779424e-01 2.75311191e-01 7.03261341e-02 9.15155495e+01] [-2.74606636e-01 9.61355064e-01 -1.96884811e-02 -1.44792763e+01] [-7.30288444e-02 -4.35112620e-04 9.97329734e-01 -9.54122622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50771942099999 meters 0.05145744888110548 Centerline is valid? [True, True] Translation: X:91.54, Y:-14.48, Z:-9.54 [[ 9.57938845e-01 2.77903787e-01 7.15727189e-02 9.15437239e+01] [-2.77183265e-01 9.60608680e-01 -2.00100439e-02 -1.44843228e+01] [-7.43142420e-02 -6.70361588e-04 9.97234648e-01 -9.54183754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53771942099999 meters 0.052327011862585135 Centerline is valid? [True, True] Translation: X:91.57, Y:-14.49, Z:-9.54 [[ 9.55953923e-01 2.83834002e-01 7.47686798e-02 9.15717219e+01] [-2.83068479e-01 9.58872661e-01 -2.08675828e-02 -1.44867918e+01] [-7.76165725e-02 -1.21620884e-03 9.96982542e-01 -9.54229161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56771942099999 meters 0.053035345756585535 Centerline is valid? [True, True] Translation: X:91.60, Y:-14.49, Z:-9.54 [[ 9.55255733e-01 2.86076459e-01 7.51448244e-02 9.15998856e+01] [-2.85310440e-01 9.58205757e-01 -2.09685397e-02 -1.44928537e+01] [-7.80028090e-02 -1.40928511e-03 9.96952143e-01 -9.54491209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.597719421 meters 0.05313148242145405 Centerline is valid? [True, True] Translation: X:91.63, Y:-14.50, Z:-9.55 [[ 9.54818143e-01 2.87669634e-01 7.46223463e-02 9.16275045e+01] [-2.86920900e-01 9.57728446e-01 -2.07995485e-02 -1.45022053e+01] [-7.74513423e-02 -1.55092450e-03 9.96994927e-01 -9.54706667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.627719421 meters 0.05531388178399713 Centerline is valid? [True, True] Translation: X:91.65, Y:-14.51, Z:-9.55 [[ 9.53783981e-01 2.91389663e-01 7.34042338e-02 9.16543115e+01] [-2.90678510e-01 9.56602653e-01 -2.04295955e-02 -1.45110031e+01] [-7.61716578e-02 -1.85161234e-03 9.97093000e-01 -9.55440431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.657719421 meters 0.05731370326197163 Centerline is valid? [True, True] Translation: X:91.68, Y:-14.52, Z:-9.56 [[ 9.53275229e-01 2.93260187e-01 7.25589424e-02 9.16812416e+01] [-2.92571037e-01 9.56030614e-01 -2.01904041e-02 -1.45167485e+01] [-7.52896120e-02 -1.98163296e-03 9.97159740e-01 -9.56100826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.687719421 meters 0.05587312792909419 Centerline is valid? [True, True] Translation: X:91.71, Y:-14.53, Z:-9.56 [[ 9.52782083e-01 2.95237178e-01 7.10021888e-02 9.17085136e+01] [-2.94583436e-01 9.55421686e-01 -1.97484537e-02 -1.45290424e+01] [-7.36675087e-02 -2.10009583e-03 9.97280646e-01 -9.55872064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.717719421 meters 0.060143581187988654 Centerline is valid? [True, True] Translation: X:91.74, Y:-14.53, Z:-9.56 [[ 9.51203937e-01 3.00256888e-01 7.11116751e-02 9.17374642e+01] [-2.99615429e-01 9.53855108e-01 -1.97744031e-02 -1.45292265e+01] [-7.37676353e-02 -2.49666490e-03 9.97272331e-01 -9.56456771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.747719421 meters 0.06091673072199975 Centerline is valid? [True, True] Translation: X:91.76, Y:-14.54, Z:-9.57 [[ 9.49692363e-01 3.04792549e-01 7.20133093e-02 9.17636564e+01] [-3.04148259e-01 9.52414372e-01 -2.00174883e-02 -1.45442097e+01] [-7.46876921e-02 -2.89226688e-03 9.97202780e-01 -9.56570494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.777719421 meters 0.06150917167929566 Centerline is valid? [True, True] Translation: X:91.79, Y:-14.56, Z:-9.57 [[ 9.49436051e-01 3.05745954e-01 7.13484139e-02 9.17899308e+01] [-3.05116044e-01 9.52108598e-01 -1.98347797e-02 -1.45562273e+01] [-7.39958419e-02 -2.93769083e-03 9.97254223e-01 -9.56883438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.807719421 meters 0.06475170376144672 Centerline is valid? [True, True] Translation: X:91.82, Y:-14.56, Z:-9.58 [[ 9.49286583e-01 3.06508137e-01 7.00552977e-02 9.18159922e+01] [-3.05905010e-01 9.51863406e-01 -1.94468921e-02 -1.45637666e+01] [-7.26437049e-02 -2.96959273e-03 9.97353535e-01 -9.57664639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.837719421 meters 0.06222847076780007 Centerline is valid? [True, True] Translation: X:91.84, Y:-14.58, Z:-9.58 [[ 9.49292139e-01 3.06627377e-01 6.94556466e-02 9.18422239e+01] [-3.06034984e-01 9.51825047e-01 -1.92786902e-02 -1.45760989e+01] [-7.20209983e-02 -2.95474859e-03 9.97398739e-01 -9.57626754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.867719421 meters 0.06444754265901356 Centerline is valid? [True, True] Translation: X:91.87, Y:-14.58, Z:-9.58 [[ 9.48528305e-01 3.09298210e-01 6.80343488e-02 9.18690101e+01] [-3.08738687e-01 9.50959981e-01 -1.88557136e-02 -1.45838282e+01] [-7.05299815e-02 -3.11965742e-03 9.97504782e-01 -9.58064622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89771942099999 meters 0.06509821625277398 Centerline is valid? [True, True] Translation: X:91.90, Y:-14.59, Z:-9.59 [[ 9.48375824e-01 3.10079639e-01 6.65876467e-02 9.18953609e+01] [-3.09545607e-01 9.50705499e-01 -1.84545883e-02 -1.45948811e+01] [-6.90276339e-02 -3.11002812e-03 9.97609900e-01 -9.58538481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92771942099999 meters 0.06621958072717536 Centerline is valid? [True, True] Translation: X:91.92, Y:-14.61, Z:-9.59 [[ 9.48542216e-01 3.10287789e-01 6.31597336e-02 9.19198551e+01] [-3.09809666e-01 9.50637968e-01 -1.74764294e-02 -1.46117678e+01] [-6.54647635e-02 -2.99036486e-03 9.97850401e-01 -9.59196390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.957719421 meters 0.0684577055383251 Centerline is valid? [True, True] Translation: X:91.95, Y:-14.62, Z:-9.60 [[ 9.49209258e-01 3.08283508e-01 6.29528647e-02 9.19453931e+01] [-3.07804297e-01 9.51290273e-01 -1.74164366e-02 -1.46204812e+01] [-6.52556480e-02 -2.84531939e-03 9.97864522e-01 -9.59923036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.987719421 meters 0.06326519864251004 Centerline is valid? [True, True] Translation: X:91.97, Y:-14.65, Z:-9.60 [[ 9.50549595e-01 3.03966745e-01 6.37156551e-02 9.19695280e+01] [-3.03466799e-01 9.52679125e-01 -1.76178008e-02 -1.46461916e+01] [-6.60558001e-02 -2.58899248e-03 9.97812572e-01 -9.59590890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.017719421 meters 0.06014999820133865 Centerline is valid? [True, True] Translation: X:91.99, Y:-14.67, Z:-9.60 [[ 9.52915788e-01 2.96241704e-01 6.47483916e-02 9.19936400e+01] [-2.95707802e-01 9.55110720e-01 -1.78999619e-02 -1.46701443e+01] [-6.71445981e-02 -2.08944820e-03 9.97741067e-01 -9.59828705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.047719421 meters 0.058397668372396974 Centerline is valid? [True, True] Translation: X:92.02, Y:-14.69, Z:-9.60 [[ 9.54419346e-01 2.91399650e-01 6.45751920e-02 9.20186608e+01] [-2.90857644e-01 9.56599810e-01 -1.78503101e-02 -1.46883983e+01] [-6.69741905e-02 -1.74550695e-03 9.97753181e-01 -9.60190510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.077719421 meters 0.056618564389332486 Centerline is valid? [True, True] Translation: X:92.04, Y:-14.71, Z:-9.60 [[ 9.55880819e-01 2.86352338e-01 6.55301377e-02 9.20443052e+01] [-2.85782562e-01 9.58123340e-01 -1.81105857e-02 -1.47077692e+01] [-6.79719629e-02 -1.41580912e-03 9.97686227e-01 -9.60447383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.107719421 meters 0.054046276591351444 Centerline is valid? [True, True] Translation: X:92.07, Y:-14.73, Z:-9.61 [[ 9.58342538e-01 2.77728284e-01 6.66826844e-02 9.20663877e+01] [-2.77117436e-01 9.60659321e-01 -1.84281288e-02 -1.47348855e+01] [-6.91773549e-02 -8.18474815e-04 9.97604042e-01 -9.60522837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.137719421 meters 0.053005008234466515 Centerline is valid? [True, True] Translation: X:92.09, Y:-14.75, Z:-9.60 [[ 9.59375317e-01 2.74202670e-01 6.64221151e-02 9.20916715e+01] [-2.73588195e-01 9.61671763e-01 -1.83553782e-02 -1.47511694e+01] [-6.89093662e-02 -5.62609809e-04 9.97622766e-01 -9.60421229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.167719421 meters 0.05351268668713155 Centerline is valid? [True, True] Translation: X:92.11, Y:-14.77, Z:-9.61 [[ 9.61189430e-01 2.68212513e-01 6.46291587e-02 9.21143794e+01] [-2.67617516e-01 9.63359761e-01 -1.78559519e-02 -1.47717748e+01] [-6.70503206e-02 -1.32942715e-04 9.97749586e-01 -9.61429351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.197719421 meters 0.053065777453047046 Centerline is valid? [True, True] Translation: X:92.14, Y:-14.79, Z:-9.61 [[ 9.62749111e-01 2.62743252e-01 6.38759097e-02 9.21391216e+01] [-2.62150745e-01 9.64865757e-01 -1.76368580e-02 -1.47899489e+01] [-6.62656434e-02 2.34752032e-04 9.97801989e-01 -9.61348595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.227719421 meters 0.053146779861344196 Centerline is valid? [True, True] Translation: X:92.17, Y:-14.80, Z:-9.62 [[ 9.63251304e-01 2.60660235e-01 6.48318422e-02 9.21659806e+01] [-2.60045534e-01 9.65430525e-01 -1.78947330e-02 -1.48008696e+01] [-6.72550848e-02 3.77893838e-04 9.97735742e-01 -9.61534613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25771942099999 meters 0.0535232615046693 Centerline is valid? [True, True] Translation: X:92.19, Y:-14.81, Z:-9.62 [[ 9.64391026e-01 2.56511211e-01 6.44356144e-02 9.21920862e+01] [-2.55895138e-01 9.66541032e-01 -1.77795538e-02 -1.48140038e+01] [-6.68403201e-02 6.57681707e-04 9.97763468e-01 -9.61767639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28771942099999 meters 0.05395208136896504 Centerline is valid? [True, True] Translation: X:92.22, Y:-14.82, Z:-9.62 [[ 9.64962670e-01 2.54421681e-01 6.41611546e-02 9.22172811e+01] [-2.53806519e-01 9.67093055e-01 -1.76995584e-02 -1.48247247e+01] [-6.65529584e-02 7.94893823e-04 9.97782577e-01 -9.62073215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31771942099999 meters 0.05387685870038046 Centerline is valid? [True, True] Translation: X:92.24, Y:-14.84, Z:-9.62 [[ 9.65405726e-01 2.52247079e-01 6.60544939e-02 9.22444410e+01] [-2.51590586e-01 9.67662380e-01 -1.82124957e-02 -1.48375324e+01] [-6.85124976e-02 9.63758864e-04 9.97649793e-01 -9.61954218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.347719421 meters 0.05354240037800303 Centerline is valid? [True, True] Translation: X:92.27, Y:-14.85, Z:-9.62 [[ 9.65696965e-01 2.50817010e-01 6.72324314e-02 9.22735287e+01] [-2.50134286e-01 9.68033924e-01 -1.85245897e-02 -1.48461852e+01] [-6.97295566e-02 1.07200376e-03 9.97565356e-01 -9.61930221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.377719421 meters 0.053996619247568864 Centerline is valid? [True, True] Translation: X:92.30, Y:-14.85, Z:-9.62 [[ 9.66224796e-01 2.48882038e-01 6.68384293e-02 9.23030426e+01] [-2.48202841e-01 9.68533059e-01 -1.84136870e-02 -1.48539955e+01] [-6.93180643e-02 1.20227296e-03 9.97593886e-01 -9.62330076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.407719421 meters 0.05539314831876976 Centerline is valid? [True, True] Translation: X:92.33, Y:-14.86, Z:-9.63 [[ 9.66453605e-01 2.48201516e-01 6.60563201e-02 9.23304045e+01] [-2.47536817e-01 9.68707638e-01 -1.81943948e-02 -1.48641187e+01] [-6.85051382e-02 1.23266718e-03 9.97650002e-01 -9.63270827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.437719421 meters 0.054678022997257256 Centerline is valid? [True, True] Translation: X:92.36, Y:-14.87, Z:-9.63 [[ 9.66709896e-01 2.47178329e-01 6.61426531e-02 9.23600557e+01] [-2.46508701e-01 9.68969110e-01 -1.82297626e-02 -1.48710558e+01] [-6.85961900e-02 1.31815244e-03 9.97643636e-01 -9.63140278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.467719421 meters 0.05646369381588578 Centerline is valid? [True, True] Translation: X:92.39, Y:-14.88, Z:-9.64 [[ 9.67090842e-01 2.45507337e-01 6.67940907e-02 9.23871187e+01] [-2.44820505e-01 9.69393648e-01 -1.84085750e-02 -1.48838833e+01] [-6.92692075e-02 1.45020131e-03 9.97596950e-01 -9.63891948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.497719421 meters 0.05646369381588578 Centerline is valid? [True, True] Translation: X:92.42, Y:-14.89, Z:-9.64 [[ 9.67100481e-01 2.45469618e-01 6.67931627e-02 9.24151252e+01] [-2.44782464e-01 9.69403190e-01 -1.84119419e-02 -1.48915430e+01] [-6.92690774e-02 1.45640295e-03 9.97596950e-01 -9.64190834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.527719421 meters 0.05556237449736119 Centerline is valid? [True, True] Translation: X:92.45, Y:-14.90, Z:-9.64 [[ 9.67330087e-01 2.44785538e-01 6.59738089e-02 9.24452142e+01] [-2.44113858e-01 9.69576114e-01 -1.81819356e-02 -1.48968914e+01] [-6.84173042e-02 1.48281234e-03 9.97655689e-01 -9.64181208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.557719421 meters 0.057129149644489646 Centerline is valid? [True, True] Translation: X:92.47, Y:-14.91, Z:-9.65 [[ 9.67480216e-01 2.44498867e-01 6.48254193e-02 9.24724916e+01] [-2.43849703e-01 9.69648452e-01 -1.78662154e-02 -1.49067583e+01] [-6.72261369e-02 1.47755076e-03 9.97736670e-01 -9.64940193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.587719421 meters 0.05594349715923818 Centerline is valid? [True, True] Translation: X:92.50, Y:-14.91, Z:-9.65 [[ 9.67613973e-01 2.44106576e-01 6.43053530e-02 9.25026008e+01] [-2.43466978e-01 9.69747263e-01 -1.77222250e-02 -1.49117196e+01] [-6.66860517e-02 1.49204255e-03 9.97772892e-01 -9.64827440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.617719421 meters 0.0558400157209006 Centerline is valid? [True, True] Translation: X:92.53, Y:-14.92, Z:-9.65 [[ 9.67423756e-01 2.44338440e-01 6.62570977e-02 9.25323080e+01] [-2.43660135e-01 9.69688828e-01 -1.82569470e-02 -1.49165843e+01] [-6.87096413e-02 1.51799090e-03 9.97635545e-01 -9.65027491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64771942099999 meters 0.05523970297746395 Centerline is valid? [True, True] Translation: X:92.56, Y:-14.92, Z:-9.65 [[ 9.67137040e-01 2.45448942e-01 6.63382476e-02 9.25627240e+01] [-2.44771785e-01 9.69408453e-01 -1.82763280e-02 -1.49186619e+01] [-6.87947634e-02 1.43798245e-03 9.97629797e-01 -9.65241853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67771942099999 meters 0.05470428187367019 Centerline is valid? [True, True] Translation: X:92.59, Y:-14.92, Z:-9.66 [[ 9.66491597e-01 2.48848904e-01 6.29937707e-02 9.25919353e+01] [-2.48245655e-01 9.68541654e-01 -1.73539242e-02 -1.49193077e+01] [-6.53305959e-02 1.13449206e-03 9.97863030e-01 -9.65906409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.707719421 meters 0.05450986542365608 Centerline is valid? [True, True] Translation: X:92.62, Y:-14.92, Z:-9.66 [[ 9.65836315e-01 2.51206815e-01 6.36816247e-02 9.26199172e+01] [-2.50595817e-01 9.67932940e-01 -1.75374104e-02 -1.49232428e+01] [-6.60450592e-02 9.79919053e-04 9.97816160e-01 -9.66388460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.737719421 meters 0.05366775995516915 Centerline is valid? [True, True] Translation: X:92.65, Y:-14.93, Z:-9.67 [[ 9.64940855e-01 2.54442234e-01 6.44072622e-02 9.26490550e+01] [-2.53824809e-01 9.67087674e-01 -1.77312242e-02 -1.49250564e+01] [-6.67990417e-02 7.61421599e-04 9.97766159e-01 -9.66583750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.767719421 meters 0.05230521486513469 Centerline is valid? [True, True] Translation: X:92.68, Y:-14.92, Z:-9.66 [[ 9.61969423e-01 2.64839643e-01 6.68938901e-02 9.26829495e+01] [-2.64199189e-01 9.64292467e-01 -1.84072318e-02 -1.49157308e+01] [-6.93802390e-02 3.38826642e-05 9.97590287e-01 -9.66455104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.797719421 meters 0.05260715556005249 Centerline is valid? [True, True] Translation: X:92.71, Y:-14.91, Z:-9.67 [[ 9.60202894e-01 2.71067603e-01 6.73257573e-02 9.27126630e+01] [-2.70434016e-01 9.62560222e-01 -1.85273470e-02 -1.49120577e+01] [-6.98272594e-02 -4.17162721e-04 9.97559011e-01 -9.66787026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.827719421 meters 0.05432354513905632 Centerline is valid? [True, True] Translation: X:92.75, Y:-14.90, Z:-9.67 [[ 9.56876004e-01 2.82809438e-01 6.63862575e-02 9.27459692e+01] [-2.82222200e-01 9.59175284e-01 -1.82593890e-02 -1.49030365e+01] [-6.88399849e-02 -1.26370439e-03 9.97626914e-01 -9.66856830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.857719421 meters 0.05747177940830308 Centerline is valid? [True, True] Translation: X:92.78, Y:-14.90, Z:-9.68 [[ 9.54495069e-01 2.90973651e-01 6.53720009e-02 9.27760067e+01] [-2.90423507e-01 9.56729324e-01 -1.79774021e-02 -1.49019824e+01] [-6.77742606e-02 -1.82622408e-03 9.97699010e-01 -9.67651500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.887719421 meters 0.058029617664943696 Centerline is valid? [True, True] Translation: X:92.80, Y:-14.91, Z:-9.68 [[ 9.54002077e-01 2.92822095e-01 6.43059687e-02 9.28034820e+01] [-2.92293495e-01 9.56165016e-01 -1.76910721e-02 -1.49100351e+01] [-6.66674544e-02 -1.91889678e-03 9.97773405e-01 -9.67927973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.917719421 meters 0.05792501601164454 Centerline is valid? [True, True] Translation: X:92.83, Y:-14.92, Z:-9.68 [[ 9.53207765e-01 2.94398384e-01 6.87353464e-02 9.28320205e+01] [-2.93800282e-01 9.55680270e-01 -1.88842796e-02 -1.49170751e+01] [-7.12485158e-02 -2.19382215e-03 9.97456183e-01 -9.67739648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.947719421 meters 0.05831226409669217 Centerline is valid? [True, True] Translation: X:92.86, Y:-14.92, Z:-9.68 [[ 9.53057246e-01 2.94470568e-01 7.04909288e-02 9.28599820e+01] [-2.93843394e-01 9.55657834e-01 -1.93433314e-02 -1.49219857e+01] [-7.30612501e-02 -2.27799158e-03 9.97324854e-01 -9.67919792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.977719421 meters 0.057755704459974626 Centerline is valid? [True, True] Translation: X:92.89, Y:-14.93, Z:-9.68 [[ 9.52818076e-01 2.94994261e-01 7.15269205e-02 9.28868779e+01] [-2.94351630e-01 9.55496076e-01 -1.96052799e-02 -1.49296965e+01] [-7.41271369e-02 -2.37380059e-03 9.97245974e-01 -9.67898757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00771942099999 meters 0.05930659174298779 Centerline is valid? [True, True] Translation: X:92.91, Y:-14.94, Z:-9.68 [[ 9.52107753e-01 2.97426723e-01 7.09095973e-02 9.29142343e+01] [-2.96804488e-01 9.54741177e-01 -1.94005583e-02 -1.49384323e+01] [-7.34705569e-02 -2.57486478e-03 9.97294063e-01 -9.68301895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03771942099999 meters 0.06205423603454073 Centerline is valid? [True, True] Translation: X:92.94, Y:-14.95, Z:-9.69 [[ 9.51698307e-01 2.99450373e-01 6.78218733e-02 9.29400391e+01] [-2.98886543e-01 9.54108295e-01 -1.85525386e-02 -1.49477391e+01] [-7.02649765e-02 -2.61462569e-03 9.97524935e-01 -9.69269750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06771942099999 meters 0.06158524667916617 Centerline is valid? [True, True] Translation: X:92.97, Y:-14.96, Z:-9.70 [[ 9.51427062e-01 3.00684996e-01 6.61443729e-02 9.29674531e+01] [-3.00152340e-01 9.53719836e-01 -1.80844705e-02 -1.49595986e+01] [-6.85209294e-02 -2.64733363e-03 9.97646167e-01 -9.69562167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.097719421 meters 0.06372602956871876 Centerline is valid? [True, True] Translation: X:92.99, Y:-14.97, Z:-9.70 [[ 9.50896917e-01 3.02865615e-01 6.37767380e-02 9.29939482e+01] [-3.02375403e-01 9.53029435e-01 -1.74359411e-02 -1.49671218e+01] [-6.60618556e-02 -2.70473418e-03 9.97811864e-01 -9.70302512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.127719421 meters 0.06398687211621121 Centerline is valid? [True, True] Translation: X:93.02, Y:-14.97, Z:-9.71 [[ 9.50662278e-01 3.03551468e-01 6.40135873e-02 9.30213042e+01] [-3.03059025e-01 9.52811043e-01 -1.75026612e-02 -1.49743994e+01] [-6.63058114e-02 -2.76077560e-03 9.97795529e-01 -9.70514767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.157719421 meters 0.06225528732001328 Centerline is valid? [True, True] Translation: X:93.05, Y:-14.99, Z:-9.70 [[ 9.50466954e-01 3.03937907e-01 6.50716378e-02 9.30470391e+01] [-3.03431230e-01 9.52687574e-01 -1.77728671e-02 -1.49854736e+01] [-6.73947888e-02 -2.85224430e-03 9.97722310e-01 -9.70403953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.187719421 meters 0.062070300830029915 Centerline is valid? [True, True] Translation: X:93.07, Y:-15.00, Z:-9.71 [[ 9.50457257e-01 3.03822048e-01 6.57507872e-02 9.30728098e+01] [-3.03306326e-01 9.52724385e-01 -1.79309648e-02 -1.50002906e+01] [-6.80902007e-02 -2.90001411e-03 9.97674954e-01 -9.70550427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.217719421 meters 0.061558542152770686 Centerline is valid? [True, True] Translation: X:93.10, Y:-15.02, Z:-9.71 [[ 9.51352961e-01 3.00856807e-01 6.64283423e-02 9.30967384e+01] [-3.00325333e-01 9.53665373e-01 -1.80845105e-02 -1.50212920e+01] [-6.87912579e-02 -2.74536140e-03 9.97627298e-01 -9.70967104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.247719421 meters 0.06056366640457192 Centerline is valid? [True, True] Translation: X:93.12, Y:-15.03, Z:-9.71 [[ 9.52094684e-01 2.98277601e-01 6.74254117e-02 9.31233282e+01] [-2.97723423e-01 9.54475635e-01 -1.83582725e-02 -1.50342843e+01] [-6.98317741e-02 -2.59531069e-03 9.97555406e-01 -9.71256768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.277719421 meters 0.058631531951424065 Centerline is valid? [True, True] Translation: X:93.15, Y:-15.05, Z:-9.72 [[ 9.53752321e-01 2.92880433e-01 6.76576845e-02 9.31486687e+01] [-2.92310860e-01 9.56146463e-01 -1.83930077e-02 -1.50485409e+01] [-7.00776078e-02 -2.23470221e-03 9.97539039e-01 -9.71636324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.307719421 meters 0.058293783499365974 Centerline is valid? [True, True] Translation: X:93.17, Y:-15.06, Z:-9.72 [[ 9.54633175e-01 2.90269275e-01 6.64774335e-02 9.31744076e+01] [-2.89713141e-01 9.56942902e-01 -1.80715024e-02 -1.50584889e+01] [-6.88607100e-02 -2.00773034e-03 9.97624264e-01 -9.72191937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.337719421 meters 0.05526230528443179 Centerline is valid? [True, True] Translation: X:93.20, Y:-15.08, Z:-9.72 [[ 9.56523323e-01 2.83960671e-01 6.65542630e-02 9.31986126e+01] [-2.83388645e-01 9.58834652e-01 -1.80827371e-02 -1.50828038e+01] [-6.89493198e-02 -1.56416263e-03 9.97618938e-01 -9.72259911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.367719421 meters 0.05493526326138491 Centerline is valid? [True, True] Translation: X:93.22, Y:-15.10, Z:-9.73 [[ 9.57545575e-01 2.80236766e-01 6.76300789e-02 9.32236098e+01] [-2.79636925e-01 9.59930006e-01 -1.83731823e-02 -1.50973167e+01] [-7.00689832e-02 -1.31870791e-03 9.97541277e-01 -9.72777722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39771942099999 meters 0.05284532113216723 Centerline is valid? [True, True] Translation: X:93.25, Y:-15.12, Z:-9.73 [[ 9.59954918e-01 2.72100683e-01 6.66916295e-02 9.32482731e+01] [-2.71498271e-01 9.62268517e-01 -1.81105142e-02 -1.51207739e+01] [-6.91031387e-02 -7.21384892e-04 9.97609260e-01 -9.72799357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42771942099999 meters 0.052559288835052315 Centerline is valid? [True, True] Translation: X:93.28, Y:-15.13, Z:-9.73 [[ 9.60795028e-01 2.69162754e-01 6.65156028e-02 9.32758280e+01] [-2.68556703e-01 9.63094570e-01 -1.80595477e-02 -1.51326407e+01] [-6.89217735e-02 -5.11687333e-04 9.97621936e-01 -9.73155087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.457719421 meters 0.05217626250008492 Centerline is valid? [True, True] Translation: X:93.30, Y:-15.14, Z:-9.73 [[ 9.60913910e-01 2.68595960e-01 6.70870121e-02 9.33047065e+01] [-2.67978389e-01 9.63252812e-01 -1.82099793e-02 -1.51434690e+01] [-6.95128799e-02 -4.79647009e-04 9.97580939e-01 -9.73260998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.487719421 meters 0.052234320394271276 Centerline is valid? [True, True] Translation: X:93.33, Y:-15.15, Z:-9.74 [[ 9.60369782e-01 2.70026511e-01 6.91054610e-02 9.33333445e+01] [-2.69374767e-01 9.62852701e-01 -1.87592745e-02 -1.51486200e+01] [-7.16038812e-02 -5.99427150e-04 9.97432968e-01 -9.73519586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.517719421 meters 0.052694760908253147 Centerline is valid? [True, True] Translation: X:93.36, Y:-15.15, Z:-9.74 [[ 9.58862614e-01 2.74944557e-01 7.06256141e-02 9.33620180e+01] [-2.74277249e-01 9.61459573e-01 -1.91697732e-02 -1.51519593e+01] [-7.31742976e-02 -9.89820276e-04 9.97318676e-01 -9.73649063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.547719421 meters 0.05371291183924423 Centerline is valid? [True, True] Translation: X:93.39, Y:-15.16, Z:-9.74 [[ 9.58201177e-01 2.77580542e-01 6.92787601e-02 9.33892010e+01] [-2.76945802e-01 9.60701652e-01 -1.87978447e-02 -1.51577876e+01] [-7.17741352e-02 -1.17434481e-03 9.97420220e-01 -9.74269032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.577719421 meters 0.05550055080369618 Centerline is valid? [True, True] Translation: X:93.42, Y:-15.16, Z:-9.75 [[ 9.56427903e-01 2.84242970e-01 6.67203199e-02 9.34193438e+01] [-2.83671006e-01 9.58750912e-01 -1.80955640e-02 -1.51604317e+01] [-6.91117044e-02 -1.61951793e-03 9.97607613e-01 -9.75008915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.607719421 meters 0.056787963092272895 Centerline is valid? [True, True] Translation: X:93.45, Y:-15.16, Z:-9.75 [[ 9.55373041e-01 2.87821587e-01 6.64912484e-02 9.34493434e+01] [-2.87262244e-01 9.57682216e-01 -1.80326346e-02 -1.51615495e+01] [-6.88676676e-02 -1.87253223e-03 9.97624046e-01 -9.75435321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.637719421 meters 0.05934477407564414 Centerline is valid? [True, True] Translation: X:93.48, Y:-15.16, Z:-9.76 [[ 9.53463383e-01 2.94098747e-01 6.64342166e-02 9.34806732e+01] [-2.93555795e-01 9.55772207e-01 -1.80134161e-02 -1.51590368e+01] [-6.87937009e-02 -2.32701660e-03 9.97628193e-01 -9.75746539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.667719421 meters 0.061197257517104614 Centerline is valid? [True, True] Translation: X:93.51, Y:-15.17, Z:-9.76 [[ 9.52447277e-01 2.97542161e-01 6.56722749e-02 9.35090387e+01] [-2.97019757e-01 9.54705285e-01 -1.78068294e-02 -1.51654108e+01] [-6.79959504e-02 -2.54589703e-03 9.97682349e-01 -9.76149657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.697719421 meters 0.06336998174895925 Centerline is valid? [True, True] Translation: X:93.54, Y:-15.17, Z:-9.76 [[ 9.50826142e-01 3.02783485e-01 6.52058963e-02 9.35378625e+01] [-3.02281139e-01 9.53054942e-01 -1.76745818e-02 -1.51745744e+01] [-6.74963732e-02 -2.90505825e-03 9.97715290e-01 -9.76453920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.727719421 meters 0.06449477009985562 Centerline is valid? [True, True] Translation: X:93.57, Y:-15.18, Z:-9.77 [[ 9.50199129e-01 3.04729520e-01 6.52804344e-02 9.35653916e+01] [-3.04230498e-01 9.52434064e-01 -1.76962921e-02 -1.51810754e+01] [-6.75678920e-02 -3.04529770e-03 9.97710031e-01 -9.76754180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75771942099999 meters 0.06557514415319278 Centerline is valid? [True, True] Translation: X:93.59, Y:-15.19, Z:-9.77 [[ 9.49597917e-01 3.06704148e-01 6.47793343e-02 9.35938019e+01] [-3.06217919e-01 9.51799622e-01 -1.75518126e-02 -1.51867971e+01] [-6.70401596e-02 -3.16942823e-03 9.97745244e-01 -9.77052376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78771942099999 meters 0.06748148871878437 Centerline is valid? [True, True] Translation: X:93.62, Y:-15.19, Z:-9.77 [[ 9.48756826e-01 3.08907075e-01 6.66100951e-02 9.36223337e+01] [-3.08398582e-01 9.51086066e-01 -1.80446358e-02 -1.51887917e+01] [-6.89260490e-02 -3.42248744e-03 9.97615901e-01 -9.77365156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81771942099999 meters 0.06738887551001423 Centerline is valid? [True, True] Translation: X:93.65, Y:-15.20, Z:-9.77 [[ 9.48668776e-01 3.08502696e-01 6.96680702e-02 9.36489111e+01] [-3.07945961e-01 9.51216814e-01 -1.88642102e-02 -1.52014509e+01] [-7.20890994e-02 -3.55811370e-03 9.97391850e-01 -9.77477004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.847719421 meters 0.06465887747351928 Centerline is valid? [True, True] Translation: X:93.67, Y:-15.22, Z:-9.78 [[ 9.49203618e-01 3.07235647e-01 6.79613798e-02 9.36738040e+01] [-3.06703026e-01 9.51627459e-01 -1.83965785e-02 -1.52183559e+01] [-7.03259998e-02 -3.38186198e-03 9.97518329e-01 -9.77657603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.877719421 meters 0.065114638238551 Centerline is valid? [True, True] Translation: X:93.70, Y:-15.23, Z:-9.79 [[ 9.50810987e-01 3.02617469e-01 6.61901369e-02 9.36984449e+01] [-3.02101545e-01 9.53107479e-01 -1.79105899e-02 -1.52341177e+01] [-6.85063720e-02 -2.96655703e-03 9.97646268e-01 -9.78549167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.907719421 meters 0.06341825808346953 Centerline is valid? [True, True] Translation: X:93.73, Y:-15.25, Z:-9.79 [[ 9.51633835e-01 2.99630884e-01 6.79292099e-02 9.37253592e+01] [-2.99080272e-01 9.54051009e-01 -1.83756082e-02 -1.52475345e+01] [-7.03138310e-02 -2.82943610e-03 9.97520907e-01 -9.78735860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.937719421 meters 0.06082454307602214 Centerline is valid? [True, True] Translation: X:93.75, Y:-15.26, Z:-9.79 [[ 9.53137820e-01 2.94594418e-01 6.88652627e-02 9.37520097e+01] [-2.94015591e-01 9.55619122e-01 -1.86259242e-02 -1.52642667e+01] [-7.12960552e-02 -2.49438812e-03 9.97452079e-01 -9.78949738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.967719421 meters 0.0588382346992856 Centerline is valid? [True, True] Translation: X:93.78, Y:-15.28, Z:-9.80 [[ 9.54959019e-01 2.89078556e-01 6.69840290e-02 9.37760219e+01] [-2.88517549e-01 9.57303233e-01 -1.81147716e-02 -1.52832504e+01] [-6.93606195e-02 -2.02720337e-03 9.97589592e-01 -9.79579756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.997719421 meters 0.05800987966188967 Centerline is valid? [True, True] Translation: X:93.80, Y:-15.30, Z:-9.80 [[ 9.55917245e-01 2.86092764e-01 6.61298054e-02 9.38019533e+01] [-2.85539084e-01 9.58200253e-01 -1.78803584e-02 -1.52975484e+01] [-6.84810374e-02 -1.79050110e-03 9.97650811e-01 -9.80132628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.027719421 meters 0.0561987397423373 Centerline is valid? [True, True] Translation: X:93.83, Y:-15.31, Z:-9.80 [[ 9.56544911e-01 2.83810752e-01 6.68826650e-02 9.38292645e+01] [-2.83239383e-01 9.58878888e-01 -1.80756572e-02 -1.53133068e+01] [-6.92624413e-02 -1.65362691e-03 9.97597103e-01 -9.80106082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.057719421 meters 0.053751217741588635 Centerline is valid? [True, True] Translation: X:93.86, Y:-15.33, Z:-9.80 [[ 9.58061782e-01 2.78398672e-01 6.79102413e-02 9.38562761e+01] [-2.77796098e-01 9.60464749e-01 -1.83519566e-02 -1.53348096e+01] [-7.03345532e-02 -1.28289179e-03 9.97522634e-01 -9.79975413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.087719421 meters 0.05328107557752373 Centerline is valid? [True, True] Translation: X:93.88, Y:-15.35, Z:-9.80 [[ 9.58829432e-01 2.75825524e-01 6.75751503e-02 9.38844144e+01] [-2.75222829e-01 9.61207098e-01 -1.82567530e-02 -1.53488723e+01] [-6.99893926e-02 -1.09311194e-03 9.97547137e-01 -9.80423236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.117719421 meters 0.053527763463718146 Centerline is valid? [True, True] Translation: X:93.91, Y:-15.36, Z:-9.82 [[ 9.60226712e-01 2.71140837e-01 6.66881371e-02 9.39121848e+01] [-2.70541245e-01 9.62539414e-01 -1.80363761e-02 -1.53625298e+01] [-6.90803585e-02 -7.22881522e-04 9.97610837e-01 -9.81501713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14771942099999 meters 0.052279248264039985 Centerline is valid? [True, True] Translation: X:93.94, Y:-15.38, Z:-9.81 [[ 9.60855606e-01 2.68882162e-01 6.67749012e-02 9.39427288e+01] [-2.68274262e-01 9.63172927e-01 -1.80785078e-02 -1.53755647e+01] [-6.91767654e-02 -5.43151804e-04 9.97604270e-01 -9.81223817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17771942099999 meters 0.05199515766822029 Centerline is valid? [True, True] Translation: X:93.97, Y:-15.39, Z:-9.81 [[ 9.62231247e-01 2.63967780e-01 6.65735605e-02 9.39712039e+01] [-2.63350370e-01 9.64531483e-01 -1.80443940e-02 -1.53915920e+01] [-6.89754337e-02 -1.69292073e-04 9.97618344e-01 -9.81387827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.207719421 meters 0.05181406225961752 Centerline is valid? [True, True] Translation: X:94.00, Y:-15.41, Z:-9.81 [[ 9.63633746e-01 2.58131825e-01 6.91228266e-02 9.39990174e+01] [-2.57449423e-01 9.66109663e-01 -1.87593370e-02 -1.54087392e+01] [-7.16226126e-02 2.81498361e-04 9.97431763e-01 -9.81486127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.237719421 meters 0.052261851784931895 Centerline is valid? [True, True] Translation: X:94.03, Y:-15.42, Z:-9.82 [[ 9.64324103e-01 2.55232657e-01 7.02517922e-02 9.40284105e+01] [-2.54518554e-01 9.66879525e-01 -1.90863980e-02 -1.54201918e+01] [-7.27964915e-02 5.25089046e-04 9.97346677e-01 -9.81912480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.267719421 meters 0.05259140727194087 Centerline is valid? [True, True] Translation: X:94.06, Y:-15.43, Z:-9.82 [[ 9.64932973e-01 2.52949677e-01 7.01485423e-02 9.40593106e+01] [-2.52230019e-01 9.67479170e-01 -1.90806735e-02 -1.54302268e+01] [-7.26937037e-02 7.18002790e-04 9.97354054e-01 -9.82196123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.297719421 meters 0.05297445835810064 Centerline is valid? [True, True] Translation: X:94.09, Y:-15.44, Z:-9.82 [[ 9.65374376e-01 2.50417284e-01 7.30992398e-02 9.40897147e+01] [-2.49626687e-01 9.68137513e-01 -1.99066237e-02 -1.54395397e+01] [-7.57550788e-02 9.69823366e-04 9.97125984e-01 -9.82270283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.327719421 meters 0.05273026087979165 Centerline is valid? [True, True] Translation: X:94.12, Y:-15.45, Z:-9.82 [[ 9.65442044e-01 2.50116049e-01 7.32367477e-02 9.41215307e+01] [-2.49319836e-01 9.68215330e-01 -1.99673083e-02 -1.54473703e+01] [-7.59030861e-02 1.01790508e-03 9.97114680e-01 -9.82399742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.357719421 meters 0.05342585525784843 Centerline is valid? [True, True] Translation: X:94.15, Y:-15.45, Z:-9.83 [[ 9.65421827e-01 2.50811280e-01 7.10942887e-02 9.41506725e+01] [-2.50061488e-01 9.68035533e-01 -1.94025792e-02 -1.54544182e+01] [-7.36881833e-02 9.53729858e-04 9.97280874e-01 -9.83224096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.387719421 meters 0.05342585525784843 Centerline is valid? [True, True] Translation: X:94.18, Y:-15.46, Z:-9.84 [[ 9.65343641e-01 2.51112484e-01 7.10927218e-02 9.41817805e+01] [-2.50363085e-01 9.67957459e-01 -1.94083214e-02 -1.54632139e+01] [-7.36884021e-02 9.36706550e-04 9.97280874e-01 -9.83557034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.417719421 meters 0.052625110746680394 Centerline is valid? [True, True] Translation: X:94.21, Y:-15.46, Z:-9.84 [[ 9.64476816e-01 2.55173347e-01 6.83449603e-02 9.42148994e+01] [-2.54489420e-01 9.66895120e-01 -1.86805090e-02 -1.54631515e+01] [-7.08491766e-02 6.23848548e-04 9.97486845e-01 -9.83944341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.447719421 meters 0.052707275959828735 Centerline is valid? [True, True] Translation: X:94.25, Y:-15.47, Z:-9.85 [[ 9.63903019e-01 2.57539314e-01 6.75608686e-02 9.42462390e+01] [-2.56875382e-01 9.66267709e-01 -1.84865452e-02 -1.54678873e+01] [-7.00428978e-02 4.64512792e-04 9.97543872e-01 -9.84519121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.477719421 meters 0.05244569478539007 Centerline is valid? [True, True] Translation: X:94.28, Y:-15.47, Z:-9.85 [[ 9.62471846e-01 2.63036349e-01 6.67819260e-02 9.42788781e+01] [-2.62399298e-01 9.64785920e-01 -1.82958103e-02 -1.54675140e+01] [-6.92427251e-02 8.56718388e-05 9.97599838e-01 -9.85010747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50771942099999 meters 0.051906468701479073 Centerline is valid? [True, True] Translation: X:94.31, Y:-15.47, Z:-9.85 [[ 9.61276236e-01 2.67460794e-01 6.64283255e-02 9.43130914e+01] [-2.66839646e-01 9.63568720e-01 -1.82188035e-02 -1.54696238e+01] [-6.88810722e-02 -2.12407946e-04 9.97624856e-01 -9.84932028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53771942099999 meters 0.054086881296044616 Centerline is valid? [True, True] Translation: X:94.35, Y:-15.46, Z:-9.86 [[ 9.58860046e-01 2.76476956e-01 6.44042382e-02 9.43464598e+01] [-2.75911668e-01 9.61020208e-01 -1.76893219e-02 -1.54617193e+01] [-6.67844642e-02 -8.08296801e-04 9.97767098e-01 -9.86144598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56771942099999 meters 0.053968405902376684 Centerline is valid? [True, True] Translation: X:94.38, Y:-15.47, Z:-9.86 [[ 9.57377968e-01 2.81495673e-01 6.47117636e-02 9.43789742e+01] [-2.80935140e-01 9.59561813e-01 -1.77925131e-02 -1.54668834e+01] [-6.71034527e-02 -1.14564835e-03 9.97745365e-01 -9.85743903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.597719421 meters 0.05582749877597803 Centerline is valid? [True, True] Translation: X:94.41, Y:-15.46, Z:-9.86 [[ 9.54838701e-01 2.89523955e-01 6.67752585e-02 9.44091693e+01] [-2.88944123e-01 9.57169206e-01 -1.83957886e-02 -1.54642669e+01] [-6.92412427e-02 -1.72930765e-03 9.97598446e-01 -9.85721052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.627719421 meters 0.05619691673796239 Centerline is valid? [True, True] Translation: X:94.44, Y:-15.47, Z:-9.86 [[ 9.54040553e-01 2.91910298e-01 6.77864427e-02 9.44391459e+01] [-2.91319307e-01 9.56443735e-01 -1.86666075e-02 -1.54690775e+01] [-7.02828934e-02 -1.93879900e-03 9.97525216e-01 -9.85769729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.657719421 meters 0.05692418331529062 Centerline is valid? [True, True] Translation: X:94.47, Y:-15.47, Z:-9.86 [[ 9.52745213e-01 2.95698117e-01 6.95642267e-02 9.44686014e+01] [-2.95085989e-01 9.55278717e-01 -1.91528676e-02 -1.54730319e+01] [-7.21166921e-02 -2.27962568e-03 9.97393596e-01 -9.85834476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.687719421 meters 0.0597914042178851 Centerline is valid? [True, True] Translation: X:94.50, Y:-15.47, Z:-9.87 [[ 9.51969111e-01 2.98584152e-01 6.78403657e-02 9.44973525e+01] [-2.98009432e-01 9.54380198e-01 -1.86766035e-02 -1.54727568e+01] [-7.03220395e-02 -2.43751924e-03 9.97521363e-01 -9.86651421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.717719421 meters 0.05870040399054224 Centerline is valid? [True, True] Translation: X:94.53, Y:-15.48, Z:-9.87 [[ 9.51426243e-01 3.00410307e-01 6.73925141e-02 9.45253915e+01] [-2.99848249e-01 9.53806626e-01 -1.85458021e-02 -1.54826911e+01] [-6.98507766e-02 -2.56256456e-03 9.97554160e-01 -9.86628978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.747719421 meters 0.06020107608474667 Centerline is valid? [True, True] Translation: X:94.55, Y:-15.49, Z:-9.87 [[ 9.50341242e-01 3.03346791e-01 6.95143791e-02 9.45520826e+01] [-3.02756627e-01 9.52875913e-01 -1.91290234e-02 -1.54890930e+01] [-7.20413053e-02 -2.86683910e-03 9.97397529e-01 -9.86661660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.777719421 meters 0.0604957898505167 Centerline is valid? [True, True] Translation: X:94.58, Y:-15.50, Z:-9.87 [[ 9.50117641e-01 3.04016776e-01 6.96438651e-02 9.45787918e+01] [-3.03426962e-01 9.52662163e-01 -1.91541587e-02 -1.54983913e+01] [-7.21702608e-02 -2.93312240e-03 9.97388014e-01 -9.86896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.807719421 meters 0.061490637049789555 Centerline is valid? [True, True] Translation: X:94.61, Y:-15.51, Z:-9.87 [[ 9.49672957e-01 3.05371794e-01 6.97806681e-02 9.46051139e+01] [-3.04783889e-01 9.52228316e-01 -1.91837042e-02 -1.55082467e+01] [-7.23052903e-02 -3.04977831e-03 9.97377884e-01 -9.87324710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.837719421 meters 0.06207131464196495 Centerline is valid? [True, True] Translation: X:94.63, Y:-15.52, Z:-9.88 [[ 9.49530918e-01 3.05984453e-01 6.90257239e-02 9.46325247e+01] [-3.05411424e-01 9.52031557e-01 -1.89677887e-02 -1.55154790e+01] [-7.15185158e-02 -3.07074286e-03 9.97434545e-01 -9.87820170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.867719421 meters 0.061950640891539156 Centerline is valid? [True, True] Translation: X:94.66, Y:-15.53, Z:-9.88 [[ 9.49731287e-01 3.05572612e-01 6.80871625e-02 9.46590101e+01] [-3.05014442e-01 9.52164038e-01 -1.87038695e-02 -1.55251753e+01] [-7.05455379e-02 -3.00391783e-03 9.97504037e-01 -9.88379075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89771942099999 meters 0.060873065042063 Centerline is valid? [True, True] Translation: X:94.69, Y:-15.54, Z:-9.89 [[ 9.50410019e-01 3.03703376e-01 6.69705565e-02 9.46862684e+01] [-3.03159263e-01 9.52762446e-01 -1.83897407e-02 -1.55371588e+01] [-6.93920576e-02 -2.82495068e-03 9.97585466e-01 -9.88745989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92771942099999 meters 0.05958021707190232 Centerline is valid? [True, True] Translation: X:94.71, Y:-15.56, Z:-9.89 [[ 9.51862162e-01 2.99386727e-01 6.57724257e-02 9.47130651e+01] [-2.98851985e-01 9.54128654e-01 -1.80555660e-02 -1.55559531e+01] [-6.81609528e-02 -2.46980983e-03 9.97671281e-01 -9.89199918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.957719421 meters 0.05792659801214732 Centerline is valid? [True, True] Translation: X:94.74, Y:-15.57, Z:-9.89 [[ 9.52492949e-01 2.97181572e-01 6.66355432e-02 9.47419398e+01] [-2.96627303e-01 9.54818112e-01 -1.82925313e-02 -1.55720022e+01] [-6.90610267e-02 -2.34241431e-03 9.97609687e-01 -9.89208871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.987719421 meters 0.05628935083348732 Centerline is valid? [True, True] Translation: X:94.77, Y:-15.59, Z:-9.89 [[ 9.53757899e-01 2.92281465e-01 7.01242900e-02 9.47685808e+01] [-2.91653821e-01 9.56330067e-01 -1.92574940e-02 -1.55898904e+01] [-7.26905756e-02 -2.08503013e-03 9.97352361e-01 -9.89214975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.017719421 meters 0.05507015899096974 Centerline is valid? [True, True] Translation: X:94.80, Y:-15.60, Z:-9.90 [[ 9.54580074e-01 2.89663876e-01 6.97977241e-02 9.47977664e+01] [-2.89035745e-01 9.57126577e-01 -1.91586536e-02 -1.56035457e+01] [-7.23548266e-02 -1.88556828e-03 9.97377172e-01 -9.89607634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.047719421 meters 0.053381946209931565 Centerline is valid? [True, True] Translation: X:94.83, Y:-15.62, Z:-9.90 [[ 9.56959242e-01 2.82415699e-01 6.68609110e-02 9.48253306e+01] [-2.81820293e-01 9.59291292e-01 -1.83722756e-02 -1.56217924e+01] [-6.93277088e-02 -1.26124256e-03 9.97593143e-01 -9.90368912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.077719421 meters 0.05266243011608235 Centerline is valid? [True, True] Translation: X:94.85, Y:-15.64, Z:-9.91 [[ 9.58153419e-01 2.78404507e-01 6.65804461e-02 9.48532768e+01] [-2.77802883e-01 9.60463449e-01 -1.83172447e-02 -1.56356343e+01] [-6.90476883e-02 -9.45509271e-04 9.97612912e-01 -9.90731985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.107719421 meters 0.051662553378665314 Centerline is valid? [True, True] Translation: X:94.88, Y:-15.65, Z:-9.91 [[ 9.59912378e-01 2.71814878e-01 6.84463140e-02 9.48809937e+01] [-2.71160330e-01 9.62349449e-01 -1.88577150e-02 -1.56548129e+01] [-7.09950801e-02 -4.58171011e-04 9.97476560e-01 -9.90707558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.137719421 meters 0.051388089211075495 Centerline is valid? [True, True] Translation: X:94.91, Y:-15.67, Z:-9.91 [[ 9.60421993e-01 2.69828465e-01 6.91534207e-02 9.49102448e+01] [-2.69155147e-01 9.62908355e-01 -1.90527182e-02 -1.56687046e+01] [-7.17293723e-02 -3.14349574e-04 9.97424081e-01 -9.90758722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.167719421 meters 0.051044180844647256 Centerline is valid? [True, True] Translation: X:94.94, Y:-15.68, Z:-9.91 [[ 9.61673730e-01 2.65215746e-01 6.96006154e-02 9.49398066e+01] [-2.64519939e-01 9.64189092e-01 -1.91988703e-02 -1.56827677e+01] [-7.21999969e-02 5.22987311e-05 9.97390173e-01 -9.90883467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.197719421 meters 0.05101699308544363 Centerline is valid? [True, True] Translation: X:94.97, Y:-15.69, Z:-9.91 [[ 9.61775976e-01 2.64612776e-01 7.04773075e-02 9.49705257e+01] [-2.63895932e-01 9.64354740e-01 -1.94646673e-02 -1.56897405e+01] [-7.31157252e-02 1.21974671e-04 9.97323456e-01 -9.91249567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.227719421 meters 0.050886871159203706 Centerline is valid? [True, True] Translation: X:95.00, Y:-15.69, Z:-9.92 [[ 9.61445159e-01 2.65269753e-01 7.24925062e-02 9.50027534e+01] [-2.64511264e-01 9.64174231e-01 -2.00460165e-02 -1.56932304e+01] [-7.52130083e-02 9.80610491e-05 9.97167485e-01 -9.91509244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25771942099999 meters 0.05098193415877187 Centerline is valid? [True, True] Translation: X:95.03, Y:-15.70, Z:-9.92 [[ 9.61213577e-01 2.66221055e-01 7.20750229e-02 9.50349900e+01] [-2.65472313e-01 9.63912002e-01 -1.99525282e-02 -1.57009549e+01] [-7.47857627e-02 4.47180148e-05 9.97199623e-01 -9.91908344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28771942099999 meters 0.051142352740003935 Centerline is valid? [True, True] Translation: X:95.07, Y:-15.71, Z:-9.93 [[ 9.60890145e-01 2.67909157e-01 7.01057257e-02 9.50651430e+01] [-2.67203331e-01 9.63444176e-01 -1.94345095e-02 -1.57068562e+01] [-7.27496362e-02 -5.80547587e-05 9.97350233e-01 -9.92527224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31771942099999 meters 0.05136125795828541 Centerline is valid? [True, True] Translation: X:95.10, Y:-15.71, Z:-9.93 [[ 9.61010171e-01 2.68037269e-01 6.79372752e-02 9.50960188e+01] [-2.67373475e-01 9.63408543e-01 -1.88521784e-02 -1.57149065e+01] [-7.05044377e-02 -4.74901691e-05 9.97511465e-01 -9.92914113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.347719421 meters 0.05184527987422857 Centerline is valid? [True, True] Translation: X:95.13, Y:-15.72, Z:-9.94 [[ 9.61165855e-01 2.68248174e-01 6.48314459e-02 9.51260394e+01] [-2.67642834e-01 9.63349841e-01 -1.80110582e-02 -1.57213238e+01] [-6.72867966e-02 -4.00577062e-05 9.97733675e-01 -9.93669229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.377719421 meters 0.05192602973171651 Centerline is valid? [True, True] Translation: X:95.16, Y:-15.73, Z:-9.94 [[ 9.61029279e-01 2.68984897e-01 6.37953789e-02 9.51569456e+01] [-2.68399159e-01 9.63144392e-01 -1.77418115e-02 -1.57275965e+01] [-6.62164407e-02 -7.22257450e-05 9.97805280e-01 -9.93988228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.407719421 meters 0.05172773875656021 Centerline is valid? [True, True] Translation: X:95.19, Y:-15.73, Z:-9.94 [[ 9.59803042e-01 2.72796712e-01 6.60308577e-02 9.51894959e+01] [-2.72176682e-01 9.62071644e-01 -1.83849436e-02 -1.57278547e+01] [-6.85417679e-02 -3.26134962e-04 9.97648194e-01 -9.94096211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.437719421 meters 0.05174921028955386 Centerline is valid? [True, True] Translation: X:95.22, Y:-15.73, Z:-9.94 [[ 9.58471565e-01 2.76669791e-01 6.91815501e-02 9.52219465e+01] [-2.75997534e-01 9.60964856e-01 -1.92848699e-02 -1.57277091e+01] [-7.18165793e-02 -6.09937797e-04 9.97417669e-01 -9.94144189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.467719421 meters 0.05239111642986962 Centerline is valid? [True, True] Translation: X:95.25, Y:-15.73, Z:-9.95 [[ 9.57741058e-01 2.79186204e-01 6.91890913e-02 9.52533527e+01] [-2.78518574e-01 9.60236670e-01 -1.93116726e-02 -1.57311836e+01] [-7.18294553e-02 -7.74865293e-04 9.97416628e-01 -9.94704854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.497719421 meters 0.052860220169789224 Centerline is valid? [True, True] Translation: X:95.29, Y:-15.74, Z:-9.95 [[ 9.56377021e-01 2.84079343e-01 6.81316386e-02 9.52860359e+01] [-2.83443392e-01 9.58800131e-01 -1.90302853e-02 -1.57352835e+01] [-7.07307350e-02 -1.11133518e-03 9.97494826e-01 -9.94735836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.527719421 meters 0.053808166160023096 Centerline is valid? [True, True] Translation: X:95.32, Y:-15.74, Z:-9.95 [[ 9.55380374e-01 2.87492744e-01 6.77957471e-02 9.53170406e+01] [-2.86871625e-01 9.57781854e-01 -1.89364790e-02 -1.57403395e+01] [-7.03776367e-02 -1.35713576e-03 9.97519497e-01 -9.95222605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.557719421 meters 0.05437933900148224 Centerline is valid? [True, True] Translation: X:95.35, Y:-15.74, Z:-9.95 [[ 9.53841345e-01 2.92172460e-01 6.94402016e-02 9.53493531e+01] [-2.91531683e-01 9.56364095e-01 -1.94163804e-02 -1.57445328e+01] [-7.20830472e-02 -1.72387242e-03 9.97397144e-01 -9.95241280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.587719421 meters 0.05578199732628053 Centerline is valid? [True, True] Translation: X:95.38, Y:-15.75, Z:-9.96 [[ 9.53141084e-01 2.94257771e-01 7.02455581e-02 9.53801726e+01] [-2.93605641e-01 9.55724250e-01 -1.96694154e-02 -1.57471853e+01] [-7.29232617e-02 -1.87676420e-03 9.97335789e-01 -9.95740345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.617719421 meters 0.05620399424402744 Centerline is valid? [True, True] Translation: X:95.41, Y:-15.75, Z:-9.96 [[ 9.52650375e-01 2.95613642e-01 7.12027984e-02 9.54091454e+01] [-2.94945960e-01 9.55305510e-01 -1.99565408e-02 -1.57528624e+01] [-7.39198514e-02 -1.98937162e-03 9.97262201e-01 -9.95900739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64771942099999 meters 0.05639733894047365 Centerline is valid? [True, True] Translation: X:95.44, Y:-15.76, Z:-9.96 [[ 9.51697857e-01 2.98460789e-01 7.20579348e-02 9.54387402e+01] [-2.97785421e-01 9.54419265e-01 -2.01918052e-02 -1.57610750e+01] [-7.47999433e-02 -2.24130469e-03 9.97196041e-01 -9.95924504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67771942099999 meters 0.05795771915847334 Centerline is valid? [True, True] Translation: X:95.47, Y:-15.77, Z:-9.97 [[ 9.51078136e-01 3.00968917e-01 6.97717050e-02 9.54672493e+01] [-3.00342495e-01 9.53631028e-01 -1.95511664e-02 -1.57683875e+01] [-7.24207562e-02 -2.36072102e-03 9.97371376e-01 -9.96690815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.707719421 meters 0.05876537882509412 Centerline is valid? [True, True] Translation: X:95.50, Y:-15.78, Z:-9.97 [[ 9.50863930e-01 3.02132524e-01 6.76293099e-02 9.54963114e+01] [-3.01546950e-01 9.53262977e-01 -1.89508325e-02 -1.57765588e+01] [-7.01941801e-02 -2.37374905e-03 9.97530522e-01 -9.97299851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.737719421 meters 0.058292281101923187 Centerline is valid? [True, True] Translation: X:95.52, Y:-15.79, Z:-9.98 [[ 9.50826221e-01 3.02720100e-01 6.54983836e-02 9.55249269e+01] [-3.02172372e-01 9.53076626e-01 -1.83521553e-02 -1.57907517e+01] [-6.79805448e-02 -2.34209143e-03 9.97683898e-01 -9.97732548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.767719421 meters 0.05830566145146148 Centerline is valid? [True, True] Translation: X:95.55, Y:-15.80, Z:-9.98 [[ 9.51025099e-01 3.02065325e-01 6.56338406e-02 9.55533075e+01] [-3.01513876e-01 9.53284450e-01 -1.83885853e-02 -1.58028937e+01] [-6.81222736e-02 -2.30150752e-03 9.97674325e-01 -9.98146071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.797719421 meters 0.05723856705286166 Centerline is valid? [True, True] Translation: X:95.58, Y:-15.82, Z:-9.98 [[ 9.52090809e-01 2.98542583e-01 6.62979465e-02 9.55795691e+01] [-2.97970140e-01 9.54394107e-01 -1.85925797e-02 -1.58209746e+01] [-6.88250462e-02 -2.05298412e-03 9.97626633e-01 -9.98457547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.827719421 meters 0.05641752705336395 Centerline is valid? [True, True] Translation: X:95.61, Y:-15.83, Z:-9.99 [[ 9.52721684e-01 2.96458132e-01 6.65880526e-02 9.56090428e+01] [-2.95876126e-01 9.55043924e-01 -1.86660584e-02 -1.58343692e+01] [-6.91282199e-02 -1.91825646e-03 9.97605939e-01 -9.98654612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.857719421 meters 0.054320720472978576 Centerline is valid? [True, True] Translation: X:95.64, Y:-15.85, Z:-9.99 [[ 9.54255908e-01 2.91354551e-01 6.71430363e-02 9.56370037e+01] [-2.90748104e-01 9.56613912e-01 -1.88511008e-02 -1.58514031e+01] [-6.97223166e-02 -1.53293617e-03 9.97565260e-01 -9.98905785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.887719421 meters 0.05367545509401479 Centerline is valid? [True, True] Translation: X:95.67, Y:-15.86, Z:-9.99 [[ 9.54634611e-01 2.89696381e-01 6.89112958e-02 9.56665129e+01] [-2.89053415e-01 9.57117495e-01 -1.93448710e-02 -1.58638701e+01] [-7.15603459e-02 -1.45176200e-03 9.97435216e-01 -9.99077948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.917719421 meters 0.052065845432512185 Centerline is valid? [True, True] Translation: X:95.69, Y:-15.88, Z:-9.99 [[ 9.55810503e-01 2.84845302e-01 7.27285073e-02 9.56934230e+01] [-2.84112388e-01 9.58572850e-01 -2.04509737e-02 -1.58822540e+01] [-7.55409363e-02 -1.11581437e-03 9.97142077e-01 -9.98787843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.947719421 meters 0.05184170520879957 Centerline is valid? [True, True] Translation: X:95.72, Y:-15.90, Z:-9.99 [[ 9.56633349e-01 2.81853129e-01 7.35625565e-02 9.57222739e+01] [-2.81095080e-01 9.59457142e-01 -2.06772264e-02 -1.58952991e+01] [-7.64080612e-02 -8.97548389e-04 9.97076227e-01 -9.99203096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.977719421 meters 0.05106033853977711 Centerline is valid? [True, True] Translation: X:95.75, Y:-15.91, Z:-10.00 [[ 9.58513264e-01 2.75694704e-01 7.24206621e-02 9.57510832e+01] [-2.74940681e-01 9.61245176e-01 -2.03797558e-02 -1.59121590e+01] [-7.52326029e-02 -3.77119861e-04 9.97165941e-01 -9.99503531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00771942099999 meters 0.05105054590023261 Centerline is valid? [True, True] Translation: X:95.78, Y:-15.92, Z:-10.00 [[ 9.59087432e-01 2.73580062e-01 7.28371296e-02 9.57810657e+01] [-2.72809385e-01 9.61849216e-01 -2.05213444e-02 -1.59233048e+01] [-7.56725666e-02 -1.88888942e-04 9.97132703e-01 -9.99902544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03771942099999 meters 0.05141458296203887 Centerline is valid? [True, True] Translation: X:95.81, Y:-15.94, Z:-10.00 [[ 9.60064434e-01 2.70719588e-01 7.06200237e-02 9.58092833e+01] [-2.69985743e-01 9.62658247e-01 -1.99197682e-02 -1.59380738e+01] [-7.33756197e-02 5.78613900e-05 9.97304374e-01 -1.00039175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06771942099999 meters 0.05149931701807045 Centerline is valid? [True, True] Translation: X:95.84, Y:-15.95, Z:-10.01 [[ 9.60120962e-01 2.70574670e-01 7.04065772e-02 9.58401590e+01] [-2.69843459e-01 9.62698987e-01 -1.98788258e-02 -1.59492197e+01] [-7.31590473e-02 8.73229928e-05 9.97320283e-01 -1.00072084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.097719421 meters 0.05115497538642208 Centerline is valid? [True, True] Translation: X:95.87, Y:-15.96, Z:-10.01 [[ 9.59536344e-01 2.72178640e-01 7.21719699e-02 9.58706907e+01] [-2.71412557e-01 9.62246740e-01 -2.04067581e-02 -1.59564719e+01] [-7.50015264e-02 -7.35286250e-06 9.97183419e-01 -1.00085821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.127719421 meters 0.05120371153664167 Centerline is valid? [True, True] Translation: X:95.90, Y:-15.96, Z:-10.01 [[ 9.57542124e-01 2.78858019e-01 7.31524801e-02 9.59037334e+01] [-2.78088756e-01 9.60332202e-01 -2.07052074e-02 -1.59586689e+01] [-7.60244954e-02 -5.16773953e-04 9.97105816e-01 -1.00106211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.157719421 meters 0.051684027890595396 Centerline is valid? [True, True] Translation: X:95.94, Y:-15.96, Z:-10.01 [[ 9.56506981e-01 2.82378232e-01 7.31910431e-02 9.59355929e+01] [-2.81616492e-01 9.59302839e-01 -2.07415956e-02 -1.59642397e+01] [-7.60693506e-02 -7.72323825e-04 9.97102230e-01 -1.00148378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.187719421 meters 0.05274362132837806 Centerline is valid? [True, True] Translation: X:95.97, Y:-15.97, Z:-10.02 [[ 9.54218410e-01 2.89883869e-01 7.37195236e-02 9.59679544e+01] [-2.89131184e-01 9.57060872e-01 -2.09199649e-02 -1.59670036e+01] [-7.66184320e-02 -1.35239750e-03 9.97059570e-01 -1.00166159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.217719421 meters 0.05427726579464062 Centerline is valid? [True, True] Translation: X:96.00, Y:-15.97, Z:-10.02 [[ 9.52803898e-01 2.94320805e-01 7.44311459e-02 9.59992818e+01] [-2.93566832e-01 9.55705129e-01 -2.11239645e-02 -1.59713855e+01] [-7.73514501e-02 -1.72351995e-03 9.97002399e-01 -1.00198445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.247719421 meters 0.05613219089012188 Centerline is valid? [True, True] Translation: X:96.03, Y:-15.97, Z:-10.02 [[ 9.50399277e-01 3.02377506e-01 7.28632880e-02 9.60307990e+01] [-3.01676559e-01 9.53185470e-01 -2.07053782e-02 -1.59724655e+01] [-7.57130680e-02 -2.30276958e-03 9.97126987e-01 -1.00238728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.277719421 meters 0.0597258748424522 Centerline is valid? [True, True] Translation: X:96.06, Y:-15.97, Z:-10.03 [[ 9.49383981e-01 3.06188679e-01 7.01323713e-02 9.60611498e+01] [-3.05549385e-01 9.51967553e-01 -1.99336893e-02 -1.59724146e+01] [-7.28672119e-02 -2.50417755e-03 9.97338507e-01 -1.00333046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.307719421 meters 0.0597258748424522 Centerline is valid? [True, True] Translation: X:96.09, Y:-15.98, Z:-10.04 [[ 9.49287400e-01 3.06487396e-01 7.01349255e-02 9.60921921e+01] [-3.05849576e-01 9.51871337e-01 -1.99247082e-02 -1.59815211e+01] [-7.28660973e-02 -2.53646279e-03 9.97338507e-01 -1.00366345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.337719421 meters 0.06360884531614033 Centerline is valid? [True, True] Translation: X:96.12, Y:-15.98, Z:-10.04 [[ 9.47279917e-01 3.13083708e-01 6.81127778e-02 9.61211551e+01] [-3.12496772e-01 9.49721036e-01 -1.93835507e-02 -1.59845085e+01] [-7.07568118e-02 -2.92337488e-03 9.97489312e-01 -1.00430247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.367719421 meters 0.06281543770442764 Centerline is valid? [True, True] Translation: X:96.15, Y:-16.00, Z:-10.04 [[ 9.46468131e-01 3.15580184e-01 6.78765302e-02 9.61510320e+01] [-3.15004461e-01 9.48893819e-01 -1.93056904e-02 -1.59963186e+01] [-7.05001133e-02 -3.10918908e-03 9.97506926e-01 -1.00432221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39771942099999 meters 0.06382274403157336 Centerline is valid? [True, True] Translation: X:96.18, Y:-16.00, Z:-10.04 [[ 9.44935689e-01 3.20048855e-01 6.83028102e-02 9.61805014e+01] [-3.19475486e-01 9.47394804e-01 -1.94550321e-02 -1.60049378e+01] [-7.09362882e-02 -3.43731930e-03 9.97474926e-01 -1.00438713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42771942099999 meters 0.0660193407011434 Centerline is valid? [True, True] Translation: X:96.21, Y:-16.01, Z:-10.05 [[ 9.44453806e-01 3.21448586e-01 6.83945497e-02 9.62107967e+01] [-3.20877798e-01 9.46920366e-01 -1.94745754e-02 -1.60110659e+01] [-7.10242668e-02 -3.55345565e-03 9.97468258e-01 -1.00489372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.457719421 meters 0.0672559455421795 Centerline is valid? [True, True] Translation: X:96.24, Y:-16.02, Z:-10.05 [[ 9.44193575e-01 3.22119852e-01 6.88280039e-02 9.62398505e+01] [-3.21541532e-01 9.46692052e-01 -1.96265434e-02 -1.60195881e+01] [-7.14810235e-02 -3.59980563e-03 9.97435464e-01 -1.00545084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.487719421 meters 0.06696195847991575 Centerline is valid? [True, True] Translation: X:96.27, Y:-16.03, Z:-10.06 [[ 9.44394017e-01 3.21601852e-01 6.84995633e-02 9.62695969e+01] [-3.21027624e-01 9.46868364e-01 -1.95337312e-02 -1.60298414e+01] [-7.11421535e-02 -3.54271319e-03 9.97459896e-01 -1.00587075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.517719421 meters 0.06329181687706169 Centerline is valid? [True, True] Translation: X:96.30, Y:-16.05, Z:-10.06 [[ 9.45814659e-01 3.17035299e-01 7.01658712e-02 9.62954947e+01] [-3.16419947e-01 9.48408089e-01 -2.00128273e-02 -1.60508204e+01] [-7.28906526e-02 -3.27345583e-03 9.97334566e-01 -1.00593510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.547719421 meters 0.059470295585356533 Centerline is valid? [True, True] Translation: X:96.32, Y:-16.08, Z:-10.06 [[ 9.48620467e-01 3.08545645e-01 7.01341244e-02 9.63195406e+01] [-3.07907539e-01 9.51205937e-01 -2.00053189e-02 -1.60773482e+01] [-7.28845495e-02 -2.61737072e-03 9.97336950e-01 -1.00611128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.577719421 meters 0.05605940928728219 Centerline is valid? [True, True] Translation: X:96.35, Y:-16.10, Z:-10.06 [[ 9.50318534e-01 3.03419590e-01 6.95070999e-02 9.63463036e+01] [-3.02779304e-01 9.52854494e-01 -1.98243865e-02 -1.60994688e+01] [-7.22452598e-02 -2.20582946e-03 9.97384458e-01 -1.00608567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.607719421 meters 0.055106804629147674 Centerline is valid? [True, True] Translation: X:96.37, Y:-16.11, Z:-10.07 [[ 9.51971677e-01 2.98021495e-01 7.02361369e-02 9.63736367e+01] [-2.97352588e-01 9.54557445e-01 -2.00380538e-02 -1.61148932e+01] [-7.30161982e-02 -1.80923734e-03 9.97329114e-01 -1.00656821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.637719421 meters 0.05280895551665468 Centerline is valid? [True, True] Translation: X:96.40, Y:-16.14, Z:-10.07 [[ 9.54848943e-01 2.88971144e-01 6.89867675e-02 9.63999315e+01] [-2.88301968e-01 9.57337184e-01 -1.96848050e-02 -1.61363041e+01] [-7.17319384e-02 -1.09300557e-03 9.97423348e-01 -1.00695915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.667719421 meters 0.05302079175427659 Centerline is valid? [True, True] Translation: X:96.43, Y:-16.15, Z:-10.08 [[ 9.55602121e-01 2.86470899e-01 6.89855875e-02 9.64289449e+01] [-2.85795590e-01 9.58088512e-01 -1.96795485e-02 -1.61477640e+01] [-7.17319168e-02 -9.09958361e-04 9.97423533e-01 -1.00769994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.697719421 meters 0.052271039118208434 Centerline is valid? [True, True] Translation: X:96.46, Y:-16.17, Z:-10.08 [[ 9.56867167e-01 2.82415938e-01 6.81649600e-02 9.64575447e+01] [-2.81744800e-01 9.59291876e-01 -1.94669899e-02 -1.61668408e+01] [-7.08878806e-02 -5.77799525e-04 9.97484122e-01 -1.00763968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.727719421 meters 0.05258089086574895 Centerline is valid? [True, True] Translation: X:96.49, Y:-16.18, Z:-10.08 [[ 9.57254969e-01 2.81055300e-01 6.83435627e-02 9.64856142e+01] [-2.80375518e-01 9.59691466e-01 -1.95411923e-02 -1.61786956e+01] [-7.10808895e-02 -4.55958396e-04 9.97470450e-01 -1.00833559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75771942099999 meters 0.051980598994483075 Centerline is valid? [True, True] Translation: X:96.52, Y:-16.19, Z:-10.08 [[ 9.57825158e-01 2.79253071e-01 6.77398596e-02 9.65167317e+01] [-2.78579490e-01 9.60217492e-01 -1.93865109e-02 -1.61923968e+01] [-7.04587408e-02 -3.02047706e-04 9.97514649e-01 -1.00826569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78771942099999 meters 0.052580776967789504 Centerline is valid? [True, True] Translation: X:96.55, Y:-16.20, Z:-10.09 [[ 9.57454546e-01 2.80371850e-01 6.83550904e-02 9.65470865e+01] [-2.79686818e-01 9.59891398e-01 -1.95905169e-02 -1.61972187e+01] [-7.11060927e-02 -3.60988248e-04 9.97468693e-01 -1.00920270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81771942099999 meters 0.052239008810931645 Centerline is valid? [True, True] Translation: X:96.58, Y:-16.21, Z:-10.09 [[ 9.57018673e-01 2.82014322e-01 6.76991949e-02 9.65781929e+01] [-2.81345126e-01 9.59410085e-01 -1.94218801e-02 -1.62050612e+01] [-7.04285387e-02 -4.59736558e-04 9.97516721e-01 -1.00922367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.847719421 meters 0.05237080841721943 Centerline is valid? [True, True] Translation: X:96.61, Y:-16.21, Z:-10.10 [[ 9.56662943e-01 2.83541915e-01 6.63324606e-02 9.66086738e+01] [-2.82901414e-01 9.58959694e-01 -1.90550639e-02 -1.62133303e+01] [-6.90130654e-02 -5.36273307e-04 9.97615612e-01 -1.00950602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.877719421 meters 0.05370977329820037 Centerline is valid? [True, True] Translation: X:96.64, Y:-16.22, Z:-10.10 [[ 9.54555196e-01 2.90675391e-01 6.58194126e-02 9.66399647e+01] [-2.90061173e-01 9.56821166e-01 -1.89148911e-02 -1.62156022e+01] [-6.84755004e-02 -1.03634848e-03 9.97652260e-01 -1.01016067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.907719421 meters 0.053955317352038464 Centerline is valid? [True, True] Translation: X:96.67, Y:-16.22, Z:-10.10 [[ 9.52082842e-01 2.97679658e-01 7.01789416e-02 9.66732842e+01] [-2.96998583e-01 9.54664442e-01 -2.01902449e-02 -1.62182762e+01] [-7.30075653e-02 -1.62026042e-03 9.97330071e-01 -1.00967058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.937719421 meters 0.05395162235868003 Centerline is valid? [True, True] Translation: X:96.70, Y:-16.23, Z:-10.10 [[ 9.50997556e-01 3.00241406e-01 7.38833305e-02 9.67045677e+01] [-2.99492192e-01 9.53861379e-01 -2.12813828e-02 -1.62255381e+01] [-7.68640078e-02 -1.88893755e-03 9.97039797e-01 -1.00954981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.967719421 meters 0.05432834105054458 Centerline is valid? [True, True] Translation: X:96.74, Y:-16.23, Z:-10.10 [[ 9.50327122e-01 3.01238839e-01 7.83168132e-02 9.67355434e+01] [-3.00398027e-01 9.53546490e-01 -2.25857731e-02 -1.62324892e+01] [-8.14824344e-02 -2.06234338e-03 9.96672644e-01 -1.00971560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.997719421 meters 0.054376085986846734 Centerline is valid? [True, True] Translation: X:96.77, Y:-16.24, Z:-10.10 [[ 9.50166251e-01 3.01644983e-01 7.87045084e-02 9.67668122e+01] [-3.00795156e-01 9.53418042e-01 -2.27224988e-02 -1.62424414e+01] [-8.18924260e-02 -2.08378341e-03 9.96638996e-01 -1.01006186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.027719421 meters 0.05361359486411368 Centerline is valid? [True, True] Translation: X:96.80, Y:-16.26, Z:-10.10 [[ 9.50441923e-01 3.01178042e-01 7.71488085e-02 9.67955516e+01] [-3.00357794e-01 9.53565876e-01 -2.23005899e-02 -1.62569274e+01] [-8.02829191e-02 -1.97683038e-03 9.96770157e-01 -1.01042273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.057719421 meters 0.05459713707330509 Centerline is valid? [True, True] Translation: X:96.82, Y:-16.26, Z:-10.11 [[ 9.50632376e-01 3.01119547e-01 7.50006942e-02 9.68249027e+01] [-3.00342339e-01 9.53584518e-01 -2.17036169e-02 -1.62645027e+01] [-7.80548840e-02 -1.89372299e-03 9.96947265e-01 -1.01127169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.087719421 meters 0.05507936490057837 Centerline is valid? [True, True] Translation: X:96.85, Y:-16.27, Z:-10.12 [[ 9.50547878e-01 3.01860221e-01 7.30694055e-02 9.68547446e+01] [-3.01123171e-01 9.53350333e-01 -2.11655069e-02 -1.62738389e+01] [-7.60497666e-02 -1.88406344e-03 9.97102243e-01 -1.01194518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.117719421 meters 0.05487217479766024 Centerline is valid? [True, True] Translation: X:96.88, Y:-16.29, Z:-10.12 [[ 9.50072156e-01 3.04044094e-01 7.01433399e-02 9.68845814e+01] [-3.03369008e-01 9.52655962e-01 -2.03436461e-02 -1.62866520e+01] [-7.30078363e-02 -1.95138373e-03 9.97329458e-01 -1.01227214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14771942099999 meters 0.055931619988418786 Centerline is valid? [True, True] Translation: X:96.91, Y:-16.30, Z:-10.13 [[ 9.49201539e-01 3.06864281e-01 6.96473356e-02 9.69138540e+01] [-3.06206256e-01 9.51750850e-01 -2.02002101e-02 -1.62959583e+01] [-7.24856338e-02 -2.15237932e-03 9.97367134e-01 -1.01278567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17771942099999 meters 0.05592578998853686 Centerline is valid? [True, True] Translation: X:96.94, Y:-16.31, Z:-10.13 [[ 9.48763087e-01 3.08197482e-01 6.97346257e-02 9.69442422e+01] [-3.07539917e-01 9.51319770e-01 -2.02458406e-02 -1.63060226e+01] [-7.25796452e-02 -2.23767485e-03 9.97360109e-01 -1.01303226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.207719421 meters 0.05649175208721197 Centerline is valid? [True, True] Translation: X:96.97, Y:-16.32, Z:-10.14 [[ 9.48730334e-01 3.08597524e-01 6.83982579e-02 9.69732515e+01] [-3.07964102e-01 9.51190165e-01 -1.98841991e-02 -1.63165997e+01] [-7.11959648e-02 -2.19946527e-03 9.97459922e-01 -1.01365374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.237719421 meters 0.05650780557269754 Centerline is valid? [True, True] Translation: X:97.00, Y:-16.33, Z:-10.14 [[ 9.48593654e-01 3.09369044e-01 6.67897848e-02 9.70032219e+01] [-3.08766561e-01 9.50939516e-01 -1.94228609e-02 -1.63289705e+01] [-6.95218775e-02 -2.19804954e-03 9.97578006e-01 -1.01396185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.267719421 meters 0.05694200738423364 Centerline is valid? [True, True] Translation: X:97.03, Y:-16.34, Z:-10.14 [[ 9.48360656e-01 3.09715569e-01 6.84713984e-02 9.70321413e+01] [-3.09081563e-01 9.50826572e-01 -1.99353114e-02 -1.63423217e+01] [-7.12787013e-02 -2.25738182e-03 9.97453884e-01 -1.01426331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.297719421 meters 0.056382124669648453 Centerline is valid? [True, True] Translation: X:97.06, Y:-16.36, Z:-10.15 [[ 9.48177466e-01 3.10267617e-01 6.85091132e-02 9.70618167e+01] [-3.09632858e-01 9.50646520e-01 -1.99671437e-02 -1.63573497e+01] [-7.13231081e-02 -2.28027682e-03 9.97450658e-01 -1.01450132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.327719421 meters 0.05635384636782213 Centerline is valid? [True, True] Translation: X:97.09, Y:-16.37, Z:-10.15 [[ 9.48281338e-01 3.09890861e-01 6.87761529e-02 9.70919142e+01] [-3.09248180e-01 9.50769510e-01 -2.00724203e-02 -1.63674892e+01] [-7.16105288e-02 -2.23459858e-03 9.97430167e-01 -1.01498358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.357719421 meters 0.05680604952728761 Centerline is valid? [True, True] Translation: X:97.12, Y:-16.38, Z:-10.16 [[ 9.48785213e-01 3.08678876e-01 6.72604685e-02 9.71219695e+01] [-3.08059502e-01 9.51164053e-01 -1.96542023e-02 -1.63759714e+01] [-7.00425769e-02 -2.07260990e-03 9.97541850e-01 -1.01574348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.387719421 meters 0.05590174002851395 Centerline is valid? [True, True] Translation: X:97.15, Y:-16.39, Z:-10.16 [[ 9.50164810e-01 3.04409562e-01 6.72432316e-02 9.71490004e+01] [-3.03778275e-01 9.52539660e-01 -1.96711822e-02 -1.63905852e+01] [-7.00399410e-02 -1.73616782e-03 9.97542677e-01 -1.01616951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.417719421 meters 0.05418361583123444 Centerline is valid? [True, True] Translation: X:97.18, Y:-16.41, Z:-10.16 [[ 9.50793241e-01 3.02268736e-01 6.80134122e-02 9.71776540e+01] [-3.01617961e-01 9.53221401e-01 -1.98888573e-02 -1.64083444e+01] [-7.08436198e-02 -1.60387565e-03 9.97486145e-01 -1.01596215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.447719421 meters 0.0530641138607434 Centerline is valid? [True, True] Translation: X:97.20, Y:-16.43, Z:-10.16 [[ 9.52134052e-01 2.96963085e-01 7.24822220e-02 9.72037237e+01] [-2.96206102e-01 9.54888131e-01 -2.12274014e-02 -1.64253651e+01] [-7.55161681e-02 -1.25834472e-03 9.97143783e-01 -1.01584541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.477719421 meters 0.051725860819762486 Centerline is valid? [True, True] Translation: X:97.23, Y:-16.44, Z:-10.16 [[ 9.52560850e-01 2.95062116e-01 7.46068034e-02 9.72333352e+01] [-2.94254093e-01 9.55477394e-01 -2.18512671e-02 -1.64391405e+01] [-7.77325952e-02 -1.13869568e-03 9.96973594e-01 -1.01562624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50771942099999 meters 0.05142742452771064 Centerline is valid? [True, True] Translation: X:97.26, Y:-16.45, Z:-10.16 [[ 9.53457990e-01 2.92207306e-01 7.43824718e-02 9.72638417e+01] [-2.91393591e-01 9.56354597e-01 -2.18096179e-02 -1.64489799e+01] [-7.75089485e-02 -8.80021124e-04 9.96991268e-01 -1.01616586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53771942099999 meters 0.05150121079393597 Centerline is valid? [True, True] Translation: X:97.29, Y:-16.46, Z:-10.17 [[ 9.54644870e-01 2.88845163e-01 7.22609366e-02 9.72921816e+01] [-2.88065865e-01 9.57375658e-01 -2.12110219e-02 -1.64608346e+01] [-7.53075628e-02 -5.66915924e-04 9.97160193e-01 -1.01685033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56771942099999 meters 0.05148077713242169 Centerline is valid? [True, True] Translation: X:97.32, Y:-16.47, Z:-10.17 [[ 9.55379135e-01 2.86601090e-01 7.14879220e-02 9.73224245e+01] [-2.85830680e-01 9.58049936e-01 -2.10033820e-02 -1.64731365e+01] [-7.45085912e-02 -3.67248414e-04 9.97220304e-01 -1.01725678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.597719421 meters 0.0517350473260555 Centerline is valid? [True, True] Translation: X:97.35, Y:-16.49, Z:-10.17 [[ 9.57341519e-01 2.80277436e-01 7.02977628e-02 9.73505550e+01] [-2.79513454e-01 9.59919026e-01 -2.06807329e-02 -1.64914332e+01] [-7.32765027e-02 1.49353736e-04 9.97311652e-01 -1.01748647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.627719421 meters 0.05221231142524981 Centerline is valid? [True, True] Translation: X:97.38, Y:-16.51, Z:-10.18 [[ 9.58847213e-01 2.75158321e-01 6.99994348e-02 9.73789273e+01] [-2.74385448e-01 9.61398764e-01 -2.06165572e-02 -1.65053636e+01] [-7.29701873e-02 5.61302118e-04 9.97333964e-01 -1.01783281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.657719421 meters 0.05422755697130155 Centerline is valid? [True, True] Translation: X:97.41, Y:-16.52, Z:-10.18 [[ 9.61585573e-01 2.65145044e-01 7.10724347e-02 9.74072235e+01] [-2.64318948e-01 9.64207569e-01 -2.09584892e-02 -1.65209784e+01] [-7.40856190e-02 1.36758968e-03 9.97250947e-01 -1.01818218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.687719421 meters 0.05556152359891648 Centerline is valid? [True, True] Translation: X:97.44, Y:-16.53, Z:-10.19 [[ 9.62788947e-01 2.60450447e-01 7.21318758e-02 9.74373665e+01] [-2.59585789e-01 9.65485609e-01 -2.12780969e-02 -1.65320583e+01] [-7.51841778e-02 1.76190656e-03 9.97168108e-01 -1.01851197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.717719421 meters 0.05886902235049216 Centerline is valid? [True, True] Translation: X:97.46, Y:-16.54, Z:-10.19 [[ 9.64684036e-01 2.52828695e-01 7.39077933e-02 9.74646527e+01] [-2.51895973e-01 9.67507967e-01 -2.18346709e-02 -1.65440277e+01] [-7.70268102e-02 2.44648291e-03 9.97026020e-01 -1.01875230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.747719421 meters 0.05860321657447518 Centerline is valid? [True, True] Translation: X:97.50, Y:-16.55, Z:-10.19 [[ 9.65154238e-01 2.50638401e-01 7.52176083e-02 9.74964032e+01] [-2.49666231e-01 9.68077121e-01 -2.22139564e-02 -1.65511082e+01] [-7.83841162e-02 2.66059741e-03 9.96919682e-01 -1.01865622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.777719421 meters 0.058774006750274575 Centerline is valid? [True, True] Translation: X:97.53, Y:-16.55, Z:-10.19 [[ 9.65265475e-01 2.49704935e-01 7.68765804e-02 9.75302109e+01] [-2.48684339e-01 9.68317863e-01 -2.27291846e-02 -1.65530280e+01] [-8.01165556e-02 2.82169559e-03 9.96781508e-01 -1.01877131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.807719421 meters 0.058885766407947474 Centerline is valid? [True, True] Translation: X:97.56, Y:-16.56, Z:-10.19 [[ 9.65236682e-01 2.50159595e-01 7.57517323e-02 9.75619453e+01] [-2.49167683e-01 9.68200645e-01 -2.24271330e-02 -1.65562807e+01] [-7.89532386e-02 2.77260782e-03 9.96874465e-01 -1.01921197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.837719421 meters 0.057714920266787116 Centerline is valid? [True, True] Translation: X:97.60, Y:-16.55, Z:-10.20 [[ 9.64494042e-01 2.53636159e-01 7.36202531e-02 9.75970157e+01] [-2.52707807e-01 9.67296620e-01 -2.18177152e-02 -1.65496055e+01] [-7.67463835e-02 2.43864359e-03 9.97047665e-01 -1.01978999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.867719421 meters 0.057747596357527506 Centerline is valid? [True, True] Translation: X:97.63, Y:-16.55, Z:-10.20 [[ 9.63783636e-01 2.56318726e-01 7.36329647e-02 9.76283378e+01] [-2.55395893e-01 9.66589699e-01 -2.18469841e-02 -1.65507174e+01] [-7.67726564e-02 2.25020894e-03 9.97046085e-01 -1.02042595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89771942099999 meters 0.05504815153570693 Centerline is valid? [True, True] Translation: X:97.66, Y:-16.54, Z:-10.21 [[ 9.62772050e-01 2.59904540e-01 7.42940828e-02 9.76643493e+01] [-2.58973380e-01 9.65632221e-01 -2.20726436e-02 -1.65400449e+01] [-7.74775404e-02 2.01073460e-03 9.96992070e-01 -1.02050383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92771942099999 meters 0.054599969824565095 Centerline is valid? [True, True] Translation: X:97.70, Y:-16.54, Z:-10.21 [[ 9.62202561e-01 2.61704129e-01 7.53470680e-02 9.76968490e+01] [-2.60752066e-01 9.65146299e-01 -2.23826329e-02 -1.65433661e+01] [-7.85785713e-02 1.88972309e-03 9.96906133e-01 -1.02079884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.957719421 meters 0.05436345956534728 Centerline is valid? [True, True] Translation: X:97.73, Y:-16.54, Z:-10.21 [[ 9.61755463e-01 2.63235694e-01 7.57192176e-02 9.77286873e+01] [-2.62276805e-01 9.64729875e-01 -2.25198846e-02 -1.65432356e+01] [-7.89766288e-02 1.79922753e-03 9.96874844e-01 -1.02116787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.987719421 meters 0.05381473654723903 Centerline is valid? [True, True] Translation: X:97.76, Y:-16.55, Z:-10.22 [[ 9.61113454e-01 2.65723855e-01 7.51781945e-02 9.77606606e+01] [-2.64784436e-01 9.64047849e-01 -2.23818463e-02 -1.65463027e+01] [-7.84227672e-02 1.60547782e-03 9.96918899e-01 -1.02158420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.017719421 meters 0.05259168913649833 Centerline is valid? [True, True] Translation: X:97.80, Y:-16.54, Z:-10.22 [[ 9.59577254e-01 2.71897274e-01 7.26867663e-02 9.77961721e+01] [-2.71035052e-01 9.62325667e-01 -2.16635733e-02 -1.65385673e+01] [-7.58386075e-02 1.08721069e-03 9.97119513e-01 -1.02224357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.047719421 meters 0.05219078772749852 Centerline is valid? [True, True] Translation: X:97.83, Y:-16.54, Z:-10.23 [[ 9.58518615e-01 2.75822600e-01 7.18606781e-02 9.78275334e+01] [-2.74989033e-01 9.61208232e-01 -2.14421428e-02 -1.65399299e+01] [-7.49873030e-02 7.91794620e-04 9.97184174e-01 -1.02273712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.077719421 meters 0.05152857350877759 Centerline is valid? [True, True] Translation: X:97.86, Y:-16.54, Z:-10.23 [[ 9.56573915e-01 2.82689712e-01 7.10835607e-02 9.78610946e+01] [-2.81891355e-01 9.59211370e-01 -2.12323217e-02 -1.65365268e+01] [-7.41863186e-02 2.72443870e-04 9.97244361e-01 -1.02321748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.107719421 meters 0.05150685156172008 Centerline is valid? [True, True] Translation: X:97.89, Y:-16.54, Z:-10.24 [[ 9.56000575e-01 2.84994231e-01 6.95786521e-02 9.78930665e+01] [-2.84233996e-01 9.58529225e-01 -2.08028787e-02 -1.65406848e+01] [-7.26218720e-02 1.10945655e-04 9.97359540e-01 -1.02363526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.137719421 meters 0.05179472070358642 Centerline is valid? [True, True] Translation: X:97.93, Y:-16.54, Z:-10.24 [[ 9.54309751e-01 2.90966782e-01 6.80531549e-02 9.79272543e+01] [-2.90253165e-01 9.56733104e-01 -2.03682874e-02 -1.65385409e+01] [-7.10352012e-02 -3.14988365e-04 9.97473760e-01 -1.02422356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.167719421 meters 0.05257333798853139 Centerline is valid? [True, True] Translation: X:97.96, Y:-16.54, Z:-10.25 [[ 9.52619063e-01 2.96825909e-01 6.64176253e-02 9.79616340e+01] [-2.96158464e-01 9.54931349e-01 -1.99068758e-02 -1.65353583e+01] [-6.93331490e-02 -7.06472472e-04 9.97593312e-01 -1.02477393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.197719421 meters 0.05257333798853139 Centerline is valid? [True, True] Translation: X:97.99, Y:-16.54, Z:-10.25 [[ 9.52516674e-01 2.97154148e-01 6.64183584e-02 9.79925279e+01] [-2.96487670e-01 9.54829239e-01 -1.99044379e-02 -1.65449002e+01] [-6.93328768e-02 -7.32915350e-04 9.97593311e-01 -1.02510684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.227719421 meters 0.05337402343347078 Centerline is valid? [True, True] Translation: X:98.03, Y:-16.55, Z:-10.25 [[ 9.51173714e-01 3.01490844e-01 6.61198666e-02 9.80251515e+01] [-3.00838971e-01 9.53468527e-01 -1.98413922e-02 -1.65472943e+01] [-6.90252099e-02 -1.01882191e-03 9.97614396e-01 -1.02549296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25771942099999 meters 0.054531665233906394 Centerline is valid? [True, True] Translation: X:98.06, Y:-16.55, Z:-10.26 [[ 9.49760812e-01 3.05922558e-01 6.60741192e-02 9.80564309e+01] [-3.05280164e-01 9.52055498e-01 -1.98582533e-02 -1.65490499e+01] [-6.89813161e-02 -1.31052717e-03 9.97617091e-01 -1.02586761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28771942099999 meters 0.05658972804837528 Centerline is valid? [True, True] Translation: X:98.09, Y:-16.55, Z:-10.26 [[ 9.47170762e-01 3.13854134e-01 6.60539960e-02 9.80880969e+01] [-3.13230964e-01 9.49469348e-01 -1.98575250e-02 -1.65471056e+01] [-6.89486108e-02 -1.88168970e-03 9.97618438e-01 -1.02604319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31771942099999 meters 0.05784882706100329 Centerline is valid? [True, True] Translation: X:98.12, Y:-16.55, Z:-10.26 [[ 9.46011457e-01 3.17334659e-01 6.60381479e-02 9.81178604e+01] [-3.16720294e-01 9.48311212e-01 -1.98519813e-02 -1.65500212e+01] [-6.89244377e-02 -2.13541989e-03 9.97619598e-01 -1.02641645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.347719421 meters 0.05946891150977166 Centerline is valid? [True, True] Translation: X:98.15, Y:-16.55, Z:-10.27 [[ 9.44147960e-01 3.23281189e-01 6.38271304e-02 9.81476925e+01] [-3.22721082e-01 9.46299684e-01 -1.91836319e-02 -1.65536239e+01] [-6.66013007e-02 -2.48617367e-03 9.97776571e-01 -1.02668521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.377719421 meters 0.06015171094362313 Centerline is valid? [True, True] Translation: X:98.17, Y:-16.56, Z:-10.27 [[ 9.43487966e-01 3.24499766e-01 6.73079569e-02 9.81733449e+01] [-3.23879821e-01 9.45881890e-01 -2.02314554e-02 -1.65639811e+01] [-7.02304800e-02 -2.71155440e-03 9.97527106e-01 -1.02675754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.407719421 meters 0.05904953282212609 Centerline is valid? [True, True] Translation: X:98.20, Y:-16.58, Z:-10.27 [[ 9.43701405e-01 3.23487953e-01 6.91607046e-02 9.82003074e+01] [-3.22831405e-01 9.46228383e-01 -2.07781506e-02 -1.65772777e+01] [-7.21633031e-02 -2.71887759e-03 9.97389124e-01 -1.02676483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.437719421 meters 0.058249438386893365 Centerline is valid? [True, True] Translation: X:98.23, Y:-16.59, Z:-10.27 [[ 9.43934333e-01 3.21871724e-01 7.33932479e-02 9.82257614e+01] [-3.21127640e-01 9.46779270e-01 -2.20465994e-02 -1.65923231e+01] [-7.65833827e-02 -2.75805845e-03 9.97059366e-01 -1.02668009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.467719421 meters 0.05830750114728913 Centerline is valid? [True, True] Translation: X:98.25, Y:-16.60, Z:-10.27 [[ 9.43912885e-01 3.21735176e-01 7.42626536e-02 9.82537645e+01] [-3.20973450e-01 9.46825598e-01 -2.23009158e-02 -1.66036980e+01] [-7.74887705e-02 -2.78621837e-03 9.96989332e-01 -1.02700776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.497719421 meters 0.05943831458880905 Centerline is valid? [True, True] Translation: X:98.28, Y:-16.62, Z:-10.28 [[ 9.43963876e-01 3.22036688e-01 7.22811983e-02 9.82808595e+01] [-3.21315946e-01 9.46723239e-01 -2.17064744e-02 -1.66152543e+01] [-7.54205713e-02 -2.73497394e-03 9.97148062e-01 -1.02763305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.527719421 meters 0.05982320183168545 Centerline is valid? [True, True] Translation: X:98.31, Y:-16.63, Z:-10.28 [[ 9.43988444e-01 3.22303542e-01 7.07548215e-02 9.83086355e+01] [-3.21613858e-01 9.46632525e-01 -2.12459131e-02 -1.66275591e+01] [-7.38264484e-02 -2.69983466e-03 9.97267450e-01 -1.02812225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.557719421 meters 0.061308077095747926 Centerline is valid? [True, True] Translation: X:98.34, Y:-16.64, Z:-10.29 [[ 9.43479503e-01 3.24508804e-01 6.73829616e-02 9.83354626e+01] [-3.23888997e-01 9.45878720e-01 -2.02327508e-02 -1.66433301e+01] [-7.03018153e-02 -2.73541411e-03 9.97522016e-01 -1.02879312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.587719421 meters 0.0609048893294105 Centerline is valid? [True, True] Translation: X:98.36, Y:-16.66, Z:-10.29 [[ 9.42767866e-01 3.27007515e-01 6.52291025e-02 9.83635896e+01] [-3.26432648e-01 9.45017509e-01 -1.95865984e-02 -1.66579112e+01] [-6.80476088e-02 -2.82729311e-03 9.97678069e-01 -1.02903445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61771942099999 meters 0.06155406249635051 Centerline is valid? [True, True] Translation: X:98.39, Y:-16.67, Z:-10.30 [[ 9.42582163e-01 3.27917327e-01 6.33173944e-02 9.83937616e+01] [-3.27377653e-01 9.44702254e-01 -1.90137592e-02 -1.66679951e+01] [-6.60510263e-02 -2.80666970e-03 9.97812299e-01 -1.02953283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64771942099999 meters 0.061890464306286634 Centerline is valid? [True, True] Translation: X:98.42, Y:-16.68, Z:-10.30 [[ 9.42247177e-01 3.29008591e-01 6.26386798e-02 9.84233268e+01] [-3.28482943e-01 9.44322616e-01 -1.88083121e-02 -1.66788103e+01] [-6.53392182e-02 -2.85365889e-03 9.97859030e-01 -1.02991935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67771942099999 meters 0.06207649140435765 Centerline is valid? [True, True] Translation: X:98.45, Y:-16.69, Z:-10.30 [[ 9.42225747e-01 3.28546691e-01 6.53277340e-02 9.84500700e+01] [-3.27971757e-01 9.44483232e-01 -1.96456652e-02 -1.66941957e+01] [-6.81554676e-02 -2.91500008e-03 9.97670454e-01 -1.03003110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.707719421 meters 0.06111525047123602 Centerline is valid? [True, True] Translation: X:98.48, Y:-16.71, Z:-10.30 [[ 9.42527767e-01 3.27226626e-01 6.75584393e-02 9.84784234e+01] [-3.26608275e-01 9.44941393e-01 -2.03174589e-02 -1.67093324e+01] [-7.04871792e-02 -2.91537616e-03 9.97508425e-01 -1.03007734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.737719421 meters 0.058798689742250776 Centerline is valid? [True, True] Translation: X:98.50, Y:-16.73, Z:-10.30 [[ 9.44433609e-01 3.21373982e-01 6.90211692e-02 9.85031891e+01] [-3.20712575e-01 9.46948983e-01 -2.07621879e-02 -1.67286582e+01] [-7.20319530e-02 -2.52744880e-03 9.97399123e-01 -1.03033818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.767719421 meters 0.05565633451643613 Centerline is valid? [True, True] Translation: X:98.53, Y:-16.75, Z:-10.31 [[ 9.47008806e-01 3.13628153e-01 6.93664390e-02 9.85280744e+01] [-3.12939454e-01 9.49543882e-01 -2.08641976e-02 -1.67514762e+01] [-7.24100775e-02 -1.94891674e-03 9.97373041e-01 -1.03061782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.797719421 meters 0.05437561777577106 Centerline is valid? [True, True] Translation: X:98.56, Y:-16.77, Z:-10.31 [[ 9.48164259e-01 3.09951178e-01 7.01056763e-02 9.85551724e+01] [-3.09237530e-01 9.50750983e-01 -2.10883667e-02 -1.67690128e+01] [-7.31894047e-02 -1.68407057e-03 9.97316637e-01 -1.03081757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.827719421 meters 0.05329711865245921 Centerline is valid? [True, True] Translation: X:98.58, Y:-16.79, Z:-10.31 [[ 9.49362981e-01 3.06038769e-01 7.10647706e-02 9.85829328e+01] [-3.05294230e-01 9.52018024e-01 -2.13802555e-02 -1.67865841e+01] [-7.41981295e-02 -1.39804131e-03 9.97242540e-01 -1.03092096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.857719421 meters 0.05136119454657358 Centerline is valid? [True, True] Translation: X:98.61, Y:-16.81, Z:-10.31 [[ 9.52005594e-01 2.96899043e-01 7.44063711e-02 9.86073857e+01] [-2.96054422e-01 9.54908609e-01 -2.23903623e-02 -1.68111396e+01] [-7.76989614e-02 -7.12585077e-04 9.96976611e-01 -1.03078191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.887719421 meters 0.05091170302019487 Centerline is valid? [True, True] Translation: X:98.64, Y:-16.83, Z:-10.31 [[ 9.53050490e-01 2.93419946e-01 7.48298011e-02 9.86361894e+01] [-2.92555563e-01 9.55983547e-01 -2.25099875e-02 -1.68271093e+01] [-7.81409380e-02 -4.38719985e-04 9.96942226e-01 -1.03076311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.917719421 meters 0.05114434167420582 Centerline is valid? [True, True] Translation: X:98.66, Y:-16.84, Z:-10.31 [[ 9.54622302e-01 2.88346512e-01 7.45154340e-02 9.86642237e+01] [-2.87472027e-01 9.57526130e-01 -2.24398060e-02 -1.68440106e+01] [-7.78209149e-02 4.36454738e-07 9.96967354e-01 -1.03147981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.947719421 meters 0.05127519703201988 Centerline is valid? [True, True] Translation: X:98.69, Y:-16.86, Z:-10.32 [[ 9.55386484e-01 2.85866660e-01 7.42759590e-02 9.86949031e+01] [-2.84988261e-01 9.58269378e-01 -2.23939756e-02 -1.68573248e+01] [-7.75780680e-02 2.27125262e-04 9.96986255e-01 -1.03174062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.977719421 meters 0.051331088934192436 Centerline is valid? [True, True] Translation: X:98.72, Y:-16.87, Z:-10.32 [[ 9.56487122e-01 2.81478786e-01 7.68249854e-02 9.87240542e+01] [-2.80522382e-01 9.59567243e-01 -2.31926735e-02 -1.68712954e+01] [-8.02469850e-02 6.32365595e-04 9.96774810e-01 -1.03174000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00771942099999 meters 0.05143882094775599 Centerline is valid? [True, True] Translation: X:98.75, Y:-16.88, Z:-10.32 [[ 9.56413826e-01 2.82109352e-01 7.54115792e-02 9.87543335e+01] [-2.81187642e-01 9.59382071e-01 -2.27936601e-02 -1.68793838e+01] [-7.87788217e-02 5.95367519e-04 9.96891941e-01 -1.03223204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03771942099999 meters 0.051881842421279654 Centerline is valid? [True, True] Translation: X:98.78, Y:-16.89, Z:-10.33 [[ 9.56326422e-01 2.83211023e-01 7.23276632e-02 9.87833940e+01] [-2.82365467e-01 9.59057491e-01 -2.18740127e-02 -1.68868249e+01] [-7.55613487e-02 4.95861920e-04 9.97141032e-01 -1.03299866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06771942099999 meters 0.052306509107257405 Centerline is valid? [True, True] Translation: X:98.81, Y:-16.89, Z:-10.34 [[ 9.55539940e-01 2.87450064e-01 6.56953829e-02 9.88138770e+01] [-2.86761703e-01 9.57795613e-01 -1.98819050e-02 -1.68900026e+01] [-6.86378044e-02 1.59034426e-04 9.97641632e-01 -1.03386014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.097719421 meters 0.05254430865544092 Centerline is valid? [True, True] Translation: X:98.85, Y:-16.90, Z:-10.34 [[ 9.55187352e-01 2.89045037e-01 6.37972501e-02 9.88450407e+01] [-2.88400079e-01 9.57315499e-01 -1.92984292e-02 -1.68972536e+01] [-6.66522115e-02 3.44835236e-05 9.97776268e-01 -1.03443481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.127719421 meters 0.052812091141416835 Centerline is valid? [True, True] Translation: X:98.88, Y:-16.90, Z:-10.35 [[ 9.54865336e-01 2.90461482e-01 6.21636342e-02 9.88767114e+01] [-2.89850876e-01 9.56886684e-01 -1.88240303e-02 -1.69034984e+01] [-6.49512095e-02 -4.37697585e-05 9.97888440e-01 -1.03497122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.157719421 meters 0.052502215055994506 Centerline is valid? [True, True] Translation: X:98.91, Y:-16.91, Z:-10.35 [[ 9.54511784e-01 2.91275496e-01 6.37639365e-02 9.89070333e+01] [-2.90633309e-01 9.56639210e-01 -1.93313369e-02 -1.69112966e+01] [-6.66298266e-02 -7.99350536e-05 9.97777761e-01 -1.03519498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.187719421 meters 0.05153313233002448 Centerline is valid? [True, True] Translation: X:98.94, Y:-16.92, Z:-10.35 [[ 9.53454148e-01 2.93792631e-01 6.79049157e-02 9.89393079e+01] [-2.93068561e-01 9.55869149e-01 -2.06152554e-02 -1.69160657e+01] [-7.09648241e-02 -2.45095123e-04 9.97478789e-01 -1.03473894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.217719421 meters 0.05138564396396983 Centerline is valid? [True, True] Translation: X:98.97, Y:-16.92, Z:-10.35 [[ 9.52705681e-01 2.96021722e-01 6.87242752e-02 9.89699861e+01] [-2.95285792e-01 9.55181118e-01 -2.08646528e-02 -1.69213446e+01] [-7.18205205e-02 -4.15428763e-04 9.97417485e-01 -1.03511351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.247719421 meters 0.05182824705526118 Centerline is valid? [True, True] Translation: X:99.00, Y:-16.92, Z:-10.35 [[ 9.50565984e-01 3.02542902e-01 6.99435622e-02 9.90035270e+01] [-3.01796460e-01 9.53135342e-01 -2.12583281e-02 -1.69203730e+01] [-7.30972374e-02 -9.01275988e-04 9.97324411e-01 -1.03536069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.277719421 meters 0.05236456587024966 Centerline is valid? [True, True] Translation: X:99.04, Y:-16.92, Z:-10.36 [[ 9.48899819e-01 3.07268090e-01 7.19406279e-02 9.90372869e+01] [-3.06490117e-01 9.51622134e-01 -2.18888663e-02 -1.69241162e+01] [-7.51860440e-02 -1.27875024e-03 9.97168704e-01 -1.03555656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.307719421 meters 0.054049384245116905 Centerline is valid? [True, True] Translation: X:99.07, Y:-16.92, Z:-10.35 [[ 9.45844202e-01 3.15580140e-01 7.60783851e-02 9.90701333e+01] [-3.14733956e-01 9.48896783e-01 -2.31825759e-02 -1.69238594e+01] [-7.95064955e-02 -2.01734603e-03 9.96832307e-01 -1.03536019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.337719421 meters 0.05423924673283248 Centerline is valid? [True, True] Translation: X:99.10, Y:-16.93, Z:-10.35 [[ 9.44837209e-01 3.18467452e-01 7.65580244e-02 9.91014793e+01] [-3.17619245e-01 9.47931089e-01 -2.33380906e-02 -1.69315119e+01] [-8.00041536e-02 -2.26560550e-03 9.96791955e-01 -1.03544089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36771942099999 meters 0.05537664173803027 Centerline is valid? [True, True] Translation: X:99.13, Y:-16.94, Z:-10.36 [[ 9.43694392e-01 3.21923221e-01 7.61993070e-02 9.91327316e+01] [-3.21092129e-01 9.46762420e-01 -2.32543626e-02 -1.69356945e+01] [-7.96287596e-02 -2.52198619e-03 9.96821398e-01 -1.03601603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39771942099999 meters 0.05625401312503386 Centerline is valid? [True, True] Translation: X:99.16, Y:-16.94, Z:-10.37 [[ 9.43161502e-01 3.23568195e-01 7.58287806e-02 9.91635852e+01] [-3.22748634e-01 9.46201209e-01 -2.31644375e-02 -1.69407454e+01] [-7.92445591e-02 -2.62582968e-03 9.96851747e-01 -1.03656342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42771942099999 meters 0.057408709388670355 Centerline is valid? [True, True] Translation: X:99.19, Y:-16.94, Z:-10.37 [[ 9.41933833e-01 3.27508463e-01 7.41543111e-02 9.91949473e+01] [-3.26734729e-01 9.44843902e-01 -2.26807905e-02 -1.69436490e+01] [-7.74923995e-02 -2.86498480e-03 9.96988826e-01 -1.03710270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.457719421 meters 0.059349339742039056 Centerline is valid? [True, True] Translation: X:99.22, Y:-16.95, Z:-10.38 [[ 9.40674191e-01 3.31883109e-01 7.06092602e-02 9.92240927e+01] [-3.31193626e-01 9.43315536e-01 -2.16005164e-02 -1.69523668e+01] [-7.37756586e-02 -3.06628865e-03 9.97270149e-01 -1.03757116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.487719421 meters 0.06184397900737565 Centerline is valid? [True, True] Translation: X:99.25, Y:-16.96, Z:-10.38 [[ 9.39955971e-01 3.34224634e-01 6.91134352e-02 9.92536726e+01] [-3.33570919e-01 9.42488054e-01 -2.11355260e-02 -1.69596466e+01] [-7.22026005e-02 -3.18776824e-03 9.97384892e-01 -1.03820166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.517719421 meters 0.06256816652574707 Centerline is valid? [True, True] Translation: X:99.28, Y:-16.97, Z:-10.39 [[ 9.39122707e-01 3.36759447e-01 6.81294020e-02 9.92828157e+01] [-3.36129396e-01 9.41584881e-01 -2.08552475e-02 -1.69720781e+01] [-7.11728165e-02 -3.31465827e-03 9.97458492e-01 -1.03860573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.547719421 meters 0.06539334580191772 Centerline is valid? [True, True] Translation: X:99.31, Y:-16.98, Z:-10.39 [[ 9.39179983e-01 3.36831064e-01 6.69760742e-02 9.93129234e+01] [-3.36221004e-01 9.41559505e-01 -2.05215540e-02 -1.69775745e+01] [-6.99742561e-02 -3.24533023e-03 9.97543519e-01 -1.03949583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.577719421 meters 0.0624074485853133 Centerline is valid? [True, True] Translation: X:99.34, Y:-16.99, Z:-10.40 [[ 9.39173216e-01 3.37212798e-01 6.51244956e-02 9.93410449e+01] [-3.36635716e-01 9.41423128e-01 -1.99722019e-02 -1.69941851e+01] [-6.80445885e-02 -3.16587413e-03 9.97677258e-01 -1.03965125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.607719421 meters 0.0628979359201616 Centerline is valid? [True, True] Translation: X:99.37, Y:-17.01, Z:-10.40 [[ 9.39419773e-01 3.36813776e-01 6.36158010e-02 9.93694152e+01] [-3.36260993e-01 9.41566354e-01 -1.95280676e-02 -1.70051617e+01] [-6.64758200e-02 -3.04645958e-03 9.97783386e-01 -1.04019125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.637719421 meters 0.06255559770567398 Centerline is valid? [True, True] Translation: X:99.40, Y:-17.02, Z:-10.40 [[ 9.39454124e-01 3.36415131e-01 6.51982263e-02 9.93990862e+01] [-3.35831741e-01 9.41708788e-01 -2.00399797e-02 -1.70203444e+01] [-6.81394950e-02 -3.06899218e-03 9.97671083e-01 -1.04025724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.667719421 meters 0.06224342060475805 Centerline is valid? [True, True] Translation: X:99.43, Y:-17.03, Z:-10.40 [[ 9.39383573e-01 3.35910132e-01 6.87232597e-02 9.94277262e+01] [-3.35259801e-01 9.41888648e-01 -2.11339008e-02 -1.70330010e+01] [-7.18287496e-02 -3.18730714e-03 9.97411887e-01 -1.04022512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.697719421 meters 0.06021174481242641 Centerline is valid? [True, True] Translation: X:99.46, Y:-17.05, Z:-10.40 [[ 9.39746023e-01 3.33861814e-01 7.35778633e-02 9.94551283e+01] [-3.33109640e-01 9.42616455e-01 -2.26315418e-02 -1.70493085e+01] [-7.69115123e-02 -3.24159419e-03 9.97032653e-01 -1.03979426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.727719421 meters 0.059831695779309295 Centerline is valid? [True, True] Translation: X:99.48, Y:-17.06, Z:-10.40 [[ 9.40203646e-01 3.32588708e-01 7.34973155e-02 9.94846691e+01] [-3.31834897e-01 9.43066744e-01 -2.25990557e-02 -1.70605137e+01] [-7.68290648e-02 -3.14125950e-03 9.97039331e-01 -1.04009892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75771942099999 meters 0.05767162789333375 Centerline is valid? [True, True] Translation: X:99.51, Y:-17.08, Z:-10.41 [[ 9.42859912e-01 3.25264770e-01 7.22358404e-02 9.95111089e+01] [-3.24512842e-01 9.45619757e-01 -2.22416364e-02 -1.70756414e+01] [-7.55420586e-02 -2.47071048e-03 9.97139555e-01 -1.04077463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78771942099999 meters 0.0548856768940196 Centerline is valid? [True, True] Translation: X:99.54, Y:-17.09, Z:-10.41 [[ 9.44068150e-01 3.21686733e-01 7.24774096e-02 9.95383055e+01] [-3.20919322e-01 9.46843619e-01 -2.23148057e-02 -1.70937201e+01] [-7.58031497e-02 -2.19270386e-03 9.97120391e-01 -1.04082404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81771942099999 meters 0.05289470880488665 Centerline is valid? [True, True] Translation: X:99.56, Y:-17.11, Z:-10.41 [[ 9.46835184e-01 3.13375950e-01 7.27918167e-02 9.95644858e+01] [-3.12576973e-01 9.49627914e-01 -2.24156233e-02 -1.71140955e+01] [-7.61496583e-02 -1.52914489e-03 9.97095227e-01 -1.04112828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.847719421 meters 0.05201183362768526 Centerline is valid? [True, True] Translation: X:99.59, Y:-17.13, Z:-10.41 [[ 9.48392859e-01 3.08594157e-01 7.29426637e-02 9.95919525e+01] [-3.07778096e-01 9.51193103e-01 -2.24571664e-02 -1.71306826e+01] [-7.63127090e-02 -1.15193788e-03 9.97083268e-01 -1.04149582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.877719421 meters 0.05117977330011039 Centerline is valid? [True, True] Translation: X:99.62, Y:-17.15, Z:-10.42 [[ 9.51653732e-01 2.98491685e-01 7.25113010e-02 9.96170902e+01] [-2.97654213e-01 9.54412182e-01 -2.23462708e-02 -1.71545396e+01] [-7.58758451e-02 -3.17382217e-04 9.97117223e-01 -1.04169655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.907719421 meters 0.051061945020696387 Centerline is valid? [True, True] Translation: X:99.65, Y:-17.17, Z:-10.42 [[ 9.52573969e-01 2.95253037e-01 7.36782084e-02 9.96458466e+01] [-2.94376961e-01 9.55419093e-01 -2.27280173e-02 -1.71695827e+01] [-7.71040831e-02 -3.90494316e-05 9.97023048e-01 -1.04192788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.937719421 meters 0.051586240097624546 Centerline is valid? [True, True] Translation: X:99.67, Y:-17.19, Z:-10.42 [[ 9.54612101e-01 2.88618517e-01 7.35872881e-02 9.96734956e+01] [-2.87722994e-01 9.57444036e-01 -2.27243854e-02 -1.71860000e+01] [-7.70143885e-02 5.20218470e-04 9.97029846e-01 -1.04246574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.967719421 meters 0.05243368976238505 Centerline is valid? [True, True] Translation: X:99.70, Y:-17.20, Z:-10.43 [[ 9.55486169e-01 2.86208414e-01 7.16304670e-02 9.97025879e+01] [-2.85351639e-01 9.58167121e-01 -2.21406855e-02 -1.71969456e+01] [-7.49708089e-02 7.15247543e-04 9.97185472e-01 -1.04311432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.997719421 meters 0.05323096053024037 Centerline is valid? [True, True] Translation: X:99.73, Y:-17.21, Z:-10.44 [[ 9.56040798e-01 2.85254140e-01 6.79416575e-02 9.97312852e+01] [-2.84479413e-01 9.58451606e-01 -2.10233840e-02 -1.72063798e+01] [-7.11157980e-02 7.71209924e-04 9.97467768e-01 -1.04384654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.027719421 meters 0.052969887097377336 Centerline is valid? [True, True] Translation: X:99.76, Y:-17.22, Z:-10.44 [[ 9.55436104e-01 2.87221851e-01 6.81576130e-02 9.97620069e+01] [-2.86446733e-01 9.57863877e-01 -2.10964808e-02 -1.72158942e+01] [-7.13450858e-02 6.32813831e-04 9.97451492e-01 -1.04412370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.057719421 meters 0.05161588903786211 Centerline is valid? [True, True] Translation: X:99.79, Y:-17.22, Z:-10.44 [[ 9.53767503e-01 2.92136267e-01 7.05971075e-02 9.97935125e+01] [-2.91315722e-01 9.56376656e-01 -2.18824435e-02 -1.72205900e+01] [-7.39100810e-02 3.04716135e-04 9.97264863e-01 -1.04394851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.087719421 meters 0.05103498688505347 Centerline is valid? [True, True] Translation: X:99.83, Y:-17.22, Z:-10.44 [[ 9.52292632e-01 2.96623770e-01 7.17849691e-02 9.98265101e+01] [-2.95788327e-01 9.54994417e-01 -2.22469906e-02 -1.72233343e+01] [-7.51532310e-02 -4.75106898e-05 9.97171996e-01 -1.04413006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11771942099999 meters 0.05103498688505347 Centerline is valid? [True, True] Translation: X:99.86, Y:-17.23, Z:-10.44 [[ 9.52196311e-01 2.96934295e-01 7.17788897e-02 9.98572752e+01] [-2.96098257e-01 9.54897912e-01 -2.22665852e-02 -1.72331494e+01] [-7.51532247e-02 -5.14438431e-05 9.97171996e-01 -1.04446307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14771942099999 meters 0.0512819062921565 Centerline is valid? [True, True] Translation: X:99.89, Y:-17.22, Z:-10.45 [[ 9.48725910e-01 3.07322100e-01 7.39748251e-02 9.98934039e+01] [-3.06463284e-01 9.51605152e-01 -2.29758604e-02 -1.72237013e+01] [-7.74558144e-02 -8.72773743e-04 9.96995404e-01 -1.04477356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17771942099999 meters 0.05243973649132766 Centerline is valid? [True, True] Translation: X:99.93, Y:-17.22, Z:-10.45 [[ 9.46809658e-01 3.13216400e-01 7.38035101e-02 9.99266605e+01] [-3.12377055e-01 9.49680861e-01 -2.29529410e-02 -1.72235737e+01] [-7.72790186e-02 -1.32245691e-03 9.97008628e-01 -1.04513496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.207719421 meters 0.05614892461721 Centerline is valid? [True, True] Translation: X:99.96, Y:-17.22, Z:-10.46 [[ 9.43835316e-01 3.22642328e-01 7.12518455e-02 9.99588592e+01] [-3.21886161e-01 9.46518822e-01 -2.21679812e-02 -1.72173957e+01] [-7.45935419e-02 -2.01205952e-03 9.97211991e-01 -1.04594572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.237719421 meters 0.057636908168189095 Centerline is valid? [True, True] Translation: X:99.99, Y:-17.22, Z:-10.46 [[ 9.41326225e-01 3.30118813e-01 7.01890870e-02 9.99905691e+01] [-3.29405916e-01 9.43935898e-01 -2.18348860e-02 -1.72203882e+01] [-7.34621056e-02 -2.56694969e-03 9.97294706e-01 -1.04612011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.267719421 meters 0.058683503794741666 Centerline is valid? [True, True] Translation: X:100.02, Y:-17.23, Z:-10.46 [[ 9.40371468e-01 3.32831442e-01 7.01764442e-02 1.00022603e+02] [-3.32126264e-01 9.42982247e-01 -2.18317994e-02 -1.72259617e+01] [-7.34414502e-02 -2.77743899e-03 9.97295663e-01 -1.04646953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.297719421 meters 0.06004659271528538 Centerline is valid? [True, True] Translation: X:100.05, Y:-17.23, Z:-10.47 [[ 9.39396928e-01 3.35416728e-01 7.09156529e-02 1.00053462e+02] [-3.34703855e-01 9.42065050e-01 -2.20628790e-02 -1.72312668e+01] [-7.42074168e-02 -3.00994169e-03 9.97238286e-01 -1.04672226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.327719421 meters 0.061058258489311124 Centerline is valid? [True, True] Translation: X:100.08, Y:-17.24, Z:-10.47 [[ 9.38908098e-01 3.36938897e-01 7.01695275e-02 1.00082941e+02] [-3.36243191e-01 9.41521506e-01 -2.18579620e-02 -1.72387811e+01] [-7.34309168e-02 -3.07140826e-03 9.97295577e-01 -1.04714236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.357719421 meters 0.06073671043586746 Centerline is valid? [True, True] Translation: X:100.11, Y:-17.25, Z:-10.48 [[ 9.38976848e-01 3.36745857e-01 7.01762527e-02 1.00112665e+02] [-3.36049788e-01 9.41590602e-01 -2.18558757e-02 -1.72504286e+01] [-7.34371756e-02 -3.06055352e-03 9.97295149e-01 -1.04750411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.387719421 meters 0.06009071618888598 Centerline is valid? [True, True] Translation: X:100.14, Y:-17.26, Z:-10.48 [[ 9.40054746e-01 3.33715719e-01 7.02203262e-02 1.00140748e+02] [-3.33008284e-01 9.42669605e-01 -2.18974674e-02 -1.72627032e+01] [-7.35020962e-02 -2.79913220e-03 9.97291134e-01 -1.04806538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.417719421 meters 0.05924974624263182 Centerline is valid? [True, True] Translation: X:100.17, Y:-17.28, Z:-10.48 [[ 9.40548211e-01 3.32360202e-01 7.00411231e-02 1.00170410e+02] [-3.31652572e-01 9.43148707e-01 -2.18423392e-02 -1.72759211e+01] [-7.33187190e-02 -2.68554560e-03 9.97304945e-01 -1.04838519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.447719421 meters 0.05841793767831758 Centerline is valid? [True, True] Translation: X:100.20, Y:-17.29, Z:-10.49 [[ 9.41774400e-01 3.29283184e-01 6.80702920e-02 1.00196674e+02] [-3.28605115e-01 9.44228279e-01 -2.12516984e-02 -1.72945709e+01] [-7.12717216e-02 -2.35394068e-03 9.97454160e-01 -1.04875219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.477719421 meters 0.05585294592792514 Centerline is valid? [True, True] Translation: X:100.22, Y:-17.32, Z:-10.49 [[ 9.42759213e-01 3.26671574e-01 6.70130551e-02 1.00223785e+02] [-3.26007366e-01 9.45135548e-01 -2.09283052e-02 -1.73172482e+01] [-7.01731030e-02 -2.11639705e-03 9.97532584e-01 -1.04876661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50771942099999 meters 0.05714508682949869 Centerline is valid? [True, True] Translation: X:100.25, Y:-17.33, Z:-10.50 [[ 9.43195138e-01 3.25474564e-01 6.67026183e-02 1.00253457e+02] [-3.24811992e-01 9.45548687e-01 -2.08530672e-02 -1.73258835e+01] [-6.98577161e-02 -1.99729875e-03 9.97554966e-01 -1.04967662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53771942099999 meters 0.05634138188905845 Centerline is valid? [True, True] Translation: X:100.28, Y:-17.34, Z:-10.50 [[ 9.43899104e-01 3.23276092e-01 6.74318110e-02 1.00281542e+02] [-3.22591707e-01 9.46302916e-01 -2.11040718e-02 -1.73416413e+01] [-7.06333612e-02 -1.83282856e-03 9.97500661e-01 -1.05001694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56771942099999 meters 0.05540167801058532 Centerline is valid? [True, True] Translation: X:100.31, Y:-17.36, Z:-10.50 [[ 9.44367963e-01 3.21717041e-01 6.83176133e-02 1.00310279e+02] [-3.21009004e-01 9.46834299e-01 -2.14016502e-02 -1.73563395e+01] [-7.15707350e-02 -1.71953616e-03 9.97434044e-01 -1.05019061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.597719421 meters 0.05456978713679703 Centerline is valid? [True, True] Translation: X:100.34, Y:-17.38, Z:-10.51 [[ 9.45715506e-01 3.17594227e-01 6.89643990e-02 1.00335865e+02] [-3.16859649e-01 9.48225694e-01 -2.16332378e-02 -1.73762540e+01] [-7.22644065e-02 -1.39314679e-03 9.97384537e-01 -1.05050387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.627719421 meters 0.05364733167024343 Centerline is valid? [True, True] Translation: X:100.36, Y:-17.39, Z:-10.51 [[ 9.46483007e-01 3.15388862e-01 6.85549692e-02 1.00363659e+02] [-3.14657679e-01 9.48961732e-01 -2.14982850e-02 -1.73936986e+01] [-7.18363619e-02 -1.22358613e-03 9.97415681e-01 -1.05068389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.657719421 meters 0.05203919009507011 Centerline is valid? [True, True] Translation: X:100.39, Y:-17.41, Z:-10.50 [[ 9.47168142e-01 3.12836481e-01 7.07520074e-02 1.00390797e+02] [-3.12048380e-01 9.49806435e-01 -2.22158765e-02 -1.74130185e+01] [-7.41506485e-02 -1.03587885e-03 9.97246513e-01 -1.05037144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.687719421 meters 0.05213192620188911 Centerline is valid? [True, True] Translation: X:100.42, Y:-17.42, Z:-10.51 [[ 9.46874065e-01 3.13552594e-01 7.15141645e-02 1.00421869e+02] [-3.12749321e-01 9.49570195e-01 -2.24567671e-02 -1.74220897e+01] [-7.49490967e-02 -1.10227607e-03 9.97186752e-01 -1.05076364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.717719421 meters 0.05382173839863988 Centerline is valid? [True, True] Translation: X:100.45, Y:-17.43, Z:-10.51 [[ 9.45246542e-01 3.18872255e-01 6.94943195e-02 1.00451274e+02] [-3.18127330e-01 9.47796562e-01 -2.18329771e-02 -1.74265433e+01] [-7.28284077e-02 -1.47049623e-03 9.97343402e-01 -1.05136961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.747719421 meters 0.05501132688070986 Centerline is valid? [True, True] Translation: X:100.48, Y:-17.44, Z:-10.52 [[ 9.44205596e-01 3.22304531e-01 6.77907204e-02 1.00480845e+02] [-3.21604633e-01 9.46634524e-01 -2.12964578e-02 -1.74351501e+01] [-7.10369812e-02 -1.69357515e-03 9.97472245e-01 -1.05185053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.777719421 meters 0.057423939235128584 Centerline is valid? [True, True] Translation: X:100.51, Y:-17.44, Z:-10.52 [[ 9.42181195e-01 3.28331531e-01 6.70298516e-02 1.00510186e+02] [-3.27662209e-01 9.44560169e-01 -2.10609753e-02 -1.74436124e+01] [-7.02287102e-02 -2.11989432e-03 9.97528663e-01 -1.05217123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.807719421 meters 0.058428531714951173 Centerline is valid? [True, True] Translation: X:100.54, Y:-17.45, Z:-10.52 [[ 9.41243900e-01 3.30973073e-01 6.72067433e-02 1.00539241e+02] [-3.30306865e-01 9.43637341e-01 -2.11173638e-02 -1.74528960e+01] [-7.04080714e-02 -2.32225884e-03 9.97515569e-01 -1.05240892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.837719421 meters 0.060122209139879736 Centerline is valid? [True, True] Translation: X:100.57, Y:-17.46, Z:-10.53 [[ 9.40072545e-01 3.34157983e-01 6.78384224e-02 1.00569457e+02] [-3.33487318e-01 9.42513538e-01 -2.13175855e-02 -1.74616496e+01] [-7.10620729e-02 -2.58317668e-03 9.97468550e-01 -1.05275318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86771942099999 meters 0.060778326179751506 Centerline is valid? [True, True] Translation: X:100.60, Y:-17.47, Z:-10.53 [[ 9.39243809e-01 3.36171703e-01 6.93516663e-02 1.00600070e+02] [-3.35476225e-01 9.41796562e-01 -2.17930879e-02 -1.74709358e+01] [-7.26413804e-02 -2.79681238e-03 9.97354204e-01 -1.05295540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89771942099999 meters 0.06062613502327851 Centerline is valid? [True, True] Translation: X:100.63, Y:-17.49, Z:-10.53 [[ 9.38379830e-01 3.38441491e-01 7.00046516e-02 1.00629363e+02] [-3.37737600e-01 9.40982716e-01 -2.20191350e-02 -1.74858978e+01] [-7.33253560e-02 -2.98089084e-03 9.97303618e-01 -1.05304195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92771942099999 meters 0.06205606773196369 Centerline is valid? [True, True] Translation: X:100.66, Y:-17.50, Z:-10.54 [[ 9.37490524e-01 3.41349641e-01 6.77638528e-02 1.00657053e+02] [-3.40695662e-01 9.39931353e-01 -2.13428753e-02 -1.74991151e+01] [-7.09787526e-02 -3.07810734e-03 9.97473078e-01 -1.05365168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.957719421 meters 0.06286568913080341 Centerline is valid? [True, True] Translation: X:100.69, Y:-17.51, Z:-10.54 [[ 9.36793132e-01 3.43372920e-01 6.71838181e-02 1.00687220e+02] [-3.42735318e-01 9.39193682e-01 -2.11596355e-02 -1.75096112e+01] [-7.03642633e-02 -3.20406608e-03 9.97516218e-01 -1.05405467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.987719421 meters 0.06379856181400953 Centerline is valid? [True, True] Translation: X:100.72, Y:-17.52, Z:-10.54 [[ 9.36230502e-01 3.44874646e-01 6.73344239e-02 1.00716921e+02] [-3.44238045e-01 9.38642865e-01 -2.12071092e-02 -1.75198641e+01] [-7.05167708e-02 -3.32432792e-03 9.97505055e-01 -1.05439902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.017719421 meters 0.06527766483228484 Centerline is valid? [True, True] Translation: X:100.74, Y:-17.53, Z:-10.55 [[ 9.35597159e-01 3.46729692e-01 6.66068849e-02 1.00744740e+02] [-3.46109871e-01 9.37958915e-01 -2.10007300e-02 -1.75329896e+01] [-6.97560981e-02 -3.40507699e-03 9.97558265e-01 -1.05467372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.047719421 meters 0.06517037359365568 Centerline is valid? [True, True] Translation: X:100.77, Y:-17.55, Z:-10.55 [[ 9.35653303e-01 3.46483745e-01 6.70962796e-02 1.00773620e+02] [-3.45853740e-01 9.38049791e-01 -2.11608001e-02 -1.75457783e+01] [-7.02715244e-02 -3.40632666e-03 9.97522085e-01 -1.05499313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.077719421 meters 0.06500475240211333 Centerline is valid? [True, True] Translation: X:100.80, Y:-17.56, Z:-10.55 [[ 9.35911108e-01 3.45808044e-01 6.69865302e-02 1.00804010e+02] [-3.45176961e-01 9.38299366e-01 -2.11462898e-02 -1.75564371e+01] [-7.01659759e-02 -3.33115941e-03 9.97529769e-01 -1.05542807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.107719421 meters 0.06304562110993012 Centerline is valid? [True, True] Translation: X:100.83, Y:-17.57, Z:-10.56 [[ 9.37347944e-01 3.41694102e-01 6.79997976e-02 1.00830518e+02] [-3.41030859e-01 9.39806306e-01 -2.14956123e-02 -1.75732340e+01] [-7.12515626e-02 -3.04116136e-03 9.97453741e-01 -1.05557440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.137719421 meters 0.062140113694883176 Centerline is valid? [True, True] Translation: X:100.86, Y:-17.59, Z:-10.56 [[ 9.37955234e-01 3.39984892e-01 6.81927618e-02 1.00858937e+02] [-3.39313988e-01 9.40426340e-01 -2.15479905e-02 -1.75887802e+01] [-7.14562606e-02 -2.92770748e-03 9.97439437e-01 -1.05574521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.167719421 meters 0.05869006901664679 Centerline is valid? [True, True] Translation: X:100.88, Y:-17.61, Z:-10.56 [[ 9.39931467e-01 3.34562251e-01 6.78007243e-02 1.00884157e+02] [-3.33882922e-01 9.42370406e-01 -2.14525664e-02 -1.76095529e+01] [-7.10706150e-02 -2.47356170e-03 9.97468220e-01 -1.05606979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.197719421 meters 0.05836089756493767 Centerline is valid? [True, True] Translation: X:100.91, Y:-17.62, Z:-10.57 [[ 9.40973394e-01 3.31711638e-01 6.73532593e-02 1.00913430e+02] [-3.31034600e-01 9.43378142e-01 -2.13019844e-02 -1.76197904e+01] [-7.06057088e-02 -2.25165865e-03 9.97501761e-01 -1.05675113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.227719421 meters 0.05482196546658375 Centerline is valid? [True, True] Translation: X:100.94, Y:-17.64, Z:-10.57 [[ 9.43137747e-01 3.25217419e-01 6.87373335e-02 1.00939596e+02] [-3.24492891e-01 9.45637607e-01 -2.17687889e-02 -1.76389030e+01] [-7.20801969e-02 -1.77380953e-03 9.97397262e-01 -1.05677339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25771942099999 meters 0.05382014659904861 Centerline is valid? [True, True] Translation: X:100.97, Y:-17.65, Z:-10.57 [[ 9.44219571e-01 3.21911362e-01 6.94440520e-02 1.00967461e+02] [-3.21162850e-01 9.46768565e-01 -2.19933849e-02 -1.76535590e+01] [-7.28273659e-02 -1.53626518e-03 9.97343379e-01 -1.05695099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28771942099999 meters 0.052658422888270516 Centerline is valid? [True, True] Translation: X:100.99, Y:-17.67, Z:-10.57 [[ 9.46731965e-01 3.14949580e-01 6.71218963e-02 1.00993172e+02] [-3.14233148e-01 9.49107908e-01 -2.12534294e-02 -1.76748444e+01] [-7.03996812e-02 -9.70623777e-04 9.97518392e-01 -1.05715891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31771942099999 meters 0.0523967906173586 Centerline is valid? [True, True] Translation: X:101.02, Y:-17.69, Z:-10.58 [[ 9.47813072e-01 3.12037167e-01 6.54460642e-02 1.01022030e+02] [-3.11347648e-01 9.50069627e-01 -2.07447700e-02 -1.76903209e+01] [-6.86514570e-02 -7.14314040e-04 9.97640450e-01 -1.05750159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.347719421 meters 0.0526067880121098 Centerline is valid? [True, True] Translation: X:101.05, Y:-17.70, Z:-10.58 [[ 9.49857378e-01 3.06404364e-01 6.23484250e-02 1.01048989e+02] [-3.05765830e-01 9.51901405e-01 -1.97730059e-02 -1.77044266e+01] [-6.54080887e-02 -2.82482304e-04 9.97858558e-01 -1.05832896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.377719421 meters 0.052726883701904176 Centerline is valid? [True, True] Translation: X:101.08, Y:-17.71, Z:-10.59 [[ 9.50186240e-01 3.05439625e-01 6.20704798e-02 1.01080333e+02] [-3.04804543e-01 9.52211421e-01 -1.96875707e-02 -1.77135011e+01] [-6.51175839e-02 -2.12505442e-04 9.97877575e-01 -1.05887321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.407719421 meters 0.05169035636193465 Centerline is valid? [True, True] Translation: X:101.11, Y:-17.72, Z:-10.58 [[ 9.49811782e-01 3.05862109e-01 6.56197245e-02 1.01112312e+02] [-3.05150903e-01 9.52075796e-01 -2.08472017e-02 -1.77205223e+01] [-6.88513205e-02 -2.23000390e-04 9.97626907e-01 -1.05833882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.437719421 meters 0.05145545654216057 Centerline is valid? [True, True] Translation: X:101.14, Y:-17.73, Z:-10.58 [[ 9.49604713e-01 3.05955100e-01 6.81349140e-02 1.01141891e+02] [-3.05188376e-01 9.52045913e-01 -2.16479724e-02 -1.77297079e+01] [-7.14908740e-02 -2.36967156e-04 9.97441226e-01 -1.05848135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.467719421 meters 0.05169305706699944 Centerline is valid? [True, True] Translation: X:101.17, Y:-17.74, Z:-10.59 [[ 9.49410091e-01 3.06517090e-01 6.83209471e-02 1.01172861e+02] [-3.05746767e-01 9.51865117e-01 -2.17189613e-02 -1.77373843e+01] [-7.16895592e-02 -2.68707611e-04 9.97426957e-01 -1.05893339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.497719421 meters 0.051781221989006115 Centerline is valid? [True, True] Translation: X:101.20, Y:-17.74, Z:-10.59 [[ 9.49536195e-01 3.06544846e-01 6.64174058e-02 1.01204137e+02] [-3.05816131e-01 9.51856184e-01 -2.11258122e-02 -1.77433470e+01] [-6.96958273e-02 -2.51790742e-04 9.97568257e-01 -1.05920067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.527719421 meters 0.05177940672485179 Centerline is valid? [True, True] Translation: X:101.24, Y:-17.75, Z:-10.60 [[ 9.49504600e-01 3.06634026e-01 6.64574156e-02 1.01236105e+02] [-3.05903408e-01 9.51827461e-01 -2.11562982e-02 -1.77507874e+01] [-6.97432341e-02 -2.41547450e-04 9.97564947e-01 -1.05966493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.557719421 meters 0.051931143404051784 Centerline is valid? [True, True] Translation: X:101.27, Y:-17.76, Z:-10.60 [[ 9.49938305e-01 3.05476184e-01 6.55859636e-02 1.01266413e+02] [-3.04759981e-01 9.52199708e-01 -2.09062018e-02 -1.77558766e+01] [-6.88372821e-02 -1.28375158e-04 9.97627893e-01 -1.06002105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.587719421 meters 0.051970299743442645 Centerline is valid? [True, True] Translation: X:101.30, Y:-17.76, Z:-10.60 [[ 9.49839017e-01 3.05620915e-01 6.63452937e-02 1.01297450e+02] [-3.04887315e-01 9.52153265e-01 -2.11632978e-02 -1.77638170e+01] [-6.96388345e-02 -1.26112486e-04 9.97572261e-01 -1.06035187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61771942099999 meters 0.05169650319785077 Centerline is valid? [True, True] Translation: X:101.33, Y:-17.77, Z:-10.60 [[ 9.49981006e-01 3.04544646e-01 6.92000434e-02 1.01328119e+02] [-3.03741943e-01 9.52498062e-01 -2.20969374e-02 -1.77718906e+01] [-7.26424111e-02 -2.72848105e-05 9.97358050e-01 -1.06028805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64771942099999 meters 0.051721487988219655 Centerline is valid? [True, True] Translation: X:101.36, Y:-17.78, Z:-10.61 [[ 9.50088173e-01 3.04277643e-01 6.89026834e-02 1.01359451e+02] [-3.03479664e-01 9.52583390e-01 -2.20222214e-02 -1.77808000e+01] [-7.23364214e-02 1.24888848e-05 9.97380290e-01 -1.06058459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67771942099999 meters 0.051590446092793764 Centerline is valid? [True, True] Translation: X:101.39, Y:-17.79, Z:-10.61 [[ 9.50170975e-01 3.03718002e-01 7.02174703e-02 1.01390456e+02] [-3.02885452e-01 9.52761968e-01 -2.24729831e-02 -1.77853342e+01] [-7.37259847e-02 8.53259965e-05 9.97278533e-01 -1.06096412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.707719421 meters 0.051724554609322175 Centerline is valid? [True, True] Translation: X:101.42, Y:-17.79, Z:-10.61 [[ 9.50315488e-01 3.03411131e-01 6.95856233e-02 1.01421831e+02] [-3.02592069e-01 9.52859734e-01 -2.22793097e-02 -1.77921742e+01] [-7.30651290e-02 1.16315298e-04 9.97327165e-01 -1.06145765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.737719421 meters 0.052424710772624464 Centerline is valid? [True, True] Translation: X:101.45, Y:-17.80, Z:-10.62 [[ 9.50506371e-01 3.03249887e-01 6.76545978e-02 1.01452195e+02] [-3.02473571e-01 9.52911058e-01 -2.16853696e-02 -1.77972460e+01] [-7.10449002e-02 1.48354242e-04 9.97473107e-01 -1.06218807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.767719421 meters 0.05244782251960022 Centerline is valid? [True, True] Translation: X:101.48, Y:-17.80, Z:-10.62 [[ 9.50421378e-01 3.03771081e-01 6.65006293e-02 1.01483575e+02] [-3.03021935e-01 9.52745043e-01 -2.13211048e-02 -1.78045755e+01] [-6.98348800e-02 1.12884416e-04 9.97558558e-01 -1.06248743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.797719421 meters 0.052449901438573095 Centerline is valid? [True, True] Translation: X:101.51, Y:-17.81, Z:-10.63 [[ 9.50176809e-01 3.04659821e-01 6.59274234e-02 1.01514946e+02] [-3.03924282e-01 9.52461227e-01 -2.11575547e-02 -1.78122702e+01] [-6.92391714e-02 6.64729958e-05 9.97600087e-01 -1.06289796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.827719421 meters 0.05273216315727835 Centerline is valid? [True, True] Translation: X:101.55, Y:-17.81, Z:-10.64 [[ 9.49431830e-01 3.06928015e-01 6.61391947e-02 1.01547427e+02] [-3.06191856e-01 9.51732729e-01 -2.12452425e-02 -1.78125264e+01] [-6.94675964e-02 -8.03733193e-05 9.97584205e-01 -1.06353108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.857719421 meters 0.05261237664260802 Centerline is valid? [True, True] Translation: X:101.58, Y:-17.82, Z:-10.64 [[ 9.48880026e-01 3.08571847e-01 6.64086784e-02 1.01579987e+02] [-3.07832176e-01 9.51201021e-01 -2.13534184e-02 -1.78174248e+01] [-6.97570664e-02 -1.80895810e-04 9.97563992e-01 -1.06392297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.887719421 meters 0.05222477374278536 Centerline is valid? [True, True] Translation: X:101.61, Y:-17.82, Z:-10.64 [[ 9.47400993e-01 3.12943348e-01 6.70657869e-02 1.01614179e+02] [-3.12198315e-01 9.49771670e-01 -2.15867487e-02 -1.78195196e+01] [-7.04526138e-02 -4.86518484e-04 9.97515009e-01 -1.06370798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.917719421 meters 0.05277415222255817 Centerline is valid? [True, True] Translation: X:101.65, Y:-17.82, Z:-10.64 [[ 9.46376300e-01 3.16022759e-01 6.70933258e-02 1.01645269e+02] [-3.15282972e-01 9.48751357e-01 -2.16219655e-02 -1.78238613e+01] [-7.04879171e-02 -6.90867458e-04 9.97512394e-01 -1.06441770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.947719421 meters 0.05321083730916992 Centerline is valid? [True, True] Translation: X:101.68, Y:-17.82, Z:-10.64 [[ 9.44125064e-01 3.22388411e-01 6.85096823e-02 1.01679430e+02] [-3.21632269e-01 9.46606751e-01 -2.20984740e-02 -1.78233510e+01] [-7.19760197e-02 -1.17120143e-03 9.97405675e-01 -1.06428206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.977719421 meters 0.055083816312752804 Centerline is valid? [True, True] Translation: X:101.72, Y:-17.82, Z:-10.64 [[ 9.40747559e-01 3.31447103e-01 7.16718058e-02 1.01715359e+02] [-3.30643414e-01 9.43471846e-01 -2.31475379e-02 -1.78181575e+01] [-7.52925153e-02 -1.92182074e-03 9.97159638e-01 -1.06426369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00771942099999 meters 0.055083816312752804 Centerline is valid? [True, True] Translation: X:101.75, Y:-17.83, Z:-10.65 [[ 9.40642248e-01 3.31745828e-01 7.16719455e-02 1.01746021e+02] [-3.30943036e-01 9.43366799e-01 -2.31471100e-02 -1.78283418e+01] [-7.52918910e-02 -1.94618167e-03 9.97159638e-01 -1.06459642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03771942099999 meters 0.05654976979518762 Centerline is valid? [True, True] Translation: X:101.78, Y:-17.83, Z:-10.65 [[ 9.38884951e-01 3.36548935e-01 7.23177988e-02 1.01778821e+02] [-3.35743312e-01 9.41663117e-01 -2.33881025e-02 -1.78307673e+01] [-7.59702448e-02 -2.32147984e-03 9.97107383e-01 -1.06480642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06771942099999 meters 0.06053049809324301 Centerline is valid? [True, True] Translation: X:101.81, Y:-17.83, Z:-10.65 [[ 9.36291113e-01 3.43767846e-01 7.19904103e-02 1.01811590e+02] [-3.42990048e-01 9.39050237e-01 -2.32912047e-02 -1.78263198e+01] [-7.56093791e-02 -2.88464628e-03 9.97133341e-01 -1.06517382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.097719421 meters 0.06207958918435083 Centerline is valid? [True, True] Translation: X:101.84, Y:-17.83, Z:-10.66 [[ 9.35423682e-01 3.46427475e-01 7.05020536e-02 1.01842105e+02] [-3.45689196e-01 9.38071843e-01 -2.28078368e-02 -1.78316566e+01] [-7.40372526e-02 -3.03680758e-03 9.97250853e-01 -1.06566057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.127719421 meters 0.06799721760263602 Centerline is valid? [True, True] Translation: X:101.87, Y:-17.83, Z:-10.67 [[ 9.34221092e-01 3.50387829e-01 6.67781364e-02 1.01872745e+02] [-3.49735519e-01 9.36599334e-01 -2.16045158e-02 -1.78310882e+01] [-7.01143174e-02 -3.17129184e-03 9.97533922e-01 -1.06685714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.157719421 meters 0.06619318469734425 Centerline is valid? [True, True] Translation: X:101.90, Y:-17.84, Z:-10.67 [[ 9.33706788e-01 3.51694167e-01 6.71032601e-02 1.01902622e+02] [-3.51039341e-01 9.36109169e-01 -2.17026568e-02 -1.78445927e+01] [-7.04486749e-02 -3.29196620e-03 9.97509973e-01 -1.06688851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.187719421 meters 0.06698550947551969 Centerline is valid? [True, True] Translation: X:101.93, Y:-17.85, Z:-10.67 [[ 9.32896154e-01 3.53573556e-01 6.84872801e-02 1.01933286e+02] [-3.52894908e-01 9.35400233e-01 -2.21717669e-02 -1.78519611e+01] [-7.19023683e-02 -3.48485635e-03 9.97405587e-01 -1.06724106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.217719421 meters 0.06591825907585162 Centerline is valid? [True, True] Translation: X:101.96, Y:-17.87, Z:-10.68 [[ 9.32737821e-01 3.54064870e-01 6.81045141e-02 1.01961713e+02] [-3.53393793e-01 9.35214369e-01 -2.20660376e-02 -1.78661865e+01] [-7.15051289e-02 -3.48588474e-03 9.97434141e-01 -1.06757874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.247719421 meters 0.06750519806731119 Centerline is valid? [True, True] Translation: X:101.99, Y:-17.88, Z:-10.68 [[ 9.33342945e-01 3.52835137e-01 6.61688193e-02 1.01990867e+02] [-3.52197368e-01 9.35679764e-01 -2.14567774e-02 -1.78764341e+01] [-6.94835302e-02 -3.27795213e-03 9.97577713e-01 -1.06829876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.277719421 meters 0.0638112019482925 Centerline is valid? [True, True] Translation: X:102.02, Y:-17.90, Z:-10.68 [[ 9.34594812e-01 3.49635133e-01 6.54813723e-02 1.02016427e+02] [-3.49000950e-01 9.36881193e-01 -2.12595293e-02 -1.78991793e+01] [-6.87813446e-02 -2.98401539e-03 9.97627296e-01 -1.06842332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.307719421 meters 0.06270316981690471 Centerline is valid? [True, True] Translation: X:102.04, Y:-17.91, Z:-10.69 [[ 9.35470898e-01 3.47484626e-01 6.44098821e-02 1.02044931e+02] [-3.46866343e-01 9.37681545e-01 -2.09059847e-02 -1.79142713e+01] [-6.76604661e-02 -2.78468000e-03 9.97704519e-01 -1.06880876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.337719421 meters 0.059898750399164674 Centerline is valid? [True, True] Translation: X:102.07, Y:-17.93, Z:-10.69 [[ 9.38109908e-01 3.40391717e-01 6.39005384e-02 1.02068999e+02] [-3.39764782e-01 9.40281085e-01 -2.07695364e-02 -1.79345800e+01] [-6.71542458e-02 -2.22704459e-03 9.97740120e-01 -1.06932284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36771942099999 meters 0.058112137570030704 Centerline is valid? [True, True] Translation: X:102.10, Y:-17.95, Z:-10.70 [[ 9.39735630e-01 3.35849438e-01 6.40476418e-02 1.02096987e+02] [-3.35209287e-01 9.41913748e-01 -2.08140677e-02 -1.79509881e+01] [-6.73177473e-02 -1.90964329e-03 9.97729760e-01 -1.06977462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39771942099999 meters 0.05484236549910925 Centerline is valid? [True, True] Translation: X:102.12, Y:-17.98, Z:-10.70 [[ 9.42721629e-01 3.26920092e-01 6.63263401e-02 1.02120895e+02] [-3.26210785e-01 9.45051079e-01 -2.15634299e-02 -1.79750657e+01] [-6.97312978e-02 -1.30805566e-03 9.97564953e-01 -1.06986656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42771942099999 meters 0.05357175961139107 Centerline is valid? [True, True] Translation: X:102.15, Y:-17.99, Z:-10.70 [[ 9.44254720e-01 3.22202231e-01 6.75925020e-02 1.02148502e+02] [-3.21453686e-01 9.46670355e-01 -2.19719640e-02 -1.79926186e+01] [-7.10672336e-02 -9.80728234e-04 9.97471045e-01 -1.06998295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.457719421 meters 0.05202485392952555 Centerline is valid? [True, True] Translation: X:102.18, Y:-18.01, Z:-10.70 [[ 9.46091990e-01 3.16345375e-01 6.95381236e-02 1.02175178e+02] [-3.15536861e-01 9.48643927e-01 -2.26094965e-02 -1.80128100e+01] [-7.31193283e-02 -5.51177699e-04 9.97323047e-01 -1.06987211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.487719421 meters 0.05164529831754285 Centerline is valid? [True, True] Translation: X:102.20, Y:-18.03, Z:-10.70 [[ 9.46879152e-01 3.14108273e-01 6.89627827e-02 1.02204675e+02] [-3.13307616e-01 9.49387091e-01 -2.24162894e-02 -1.80279182e+01] [-7.25135176e-02 -3.81047971e-04 9.97367357e-01 -1.06995926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.517719421 meters 0.051886414371999964 Centerline is valid? [True, True] Translation: X:102.23, Y:-18.04, Z:-10.70 [[ 9.46730422e-01 3.14827653e-01 6.77130561e-02 1.02234393e+02] [-3.14055822e-01 9.49148769e-01 -2.20353078e-02 -1.80387226e+01] [-7.12070880e-02 -4.04183298e-04 9.97461472e-01 -1.07038926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.547719421 meters 0.05223850535423263 Centerline is valid? [True, True] Translation: X:102.26, Y:-18.05, Z:-10.71 [[ 9.45956479e-01 3.17396245e-01 6.65279210e-02 1.02263878e+02] [-3.16656121e-01 9.48292836e-01 -2.16702330e-02 -1.80465259e+01] [-6.99660014e-02 -5.67376074e-04 9.97549215e-01 -1.07092610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.577719421 meters 0.05238660667263504 Centerline is valid? [True, True] Translation: X:102.29, Y:-18.06, Z:-10.71 [[ 9.45589608e-01 3.18567906e-01 6.61421418e-02 1.02294699e+02] [-3.17837793e-01 9.47899832e-01 -2.15649293e-02 -1.80554537e+01] [-6.95660195e-02 -6.30899296e-04 9.97577150e-01 -1.07136554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.607719421 meters 0.0523930310032352 Centerline is valid? [True, True] Translation: X:102.32, Y:-18.07, Z:-10.72 [[ 9.45636848e-01 3.18562900e-01 6.54876327e-02 1.02324007e+02] [-3.17845468e-01 9.47901534e-01 -2.13761733e-02 -1.80658776e+01] [-6.88854832e-02 -6.00850110e-04 9.97624393e-01 -1.07174722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.637719421 meters 0.052241587944101 Centerline is valid? [True, True] Translation: X:102.35, Y:-18.08, Z:-10.72 [[ 9.45803557e-01 3.17847392e-01 6.65482305e-02 1.02352227e+02] [-3.17104169e-01 9.48141726e-01 -2.17304753e-02 -1.80779391e+01] [-7.00041290e-02 -5.49960453e-04 9.97546550e-01 -1.07204540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.667719421 meters 0.05179267542197137 Centerline is valid? [True, True] Translation: X:102.38, Y:-18.10, Z:-10.72 [[ 9.47526324e-01 3.12212246e-01 6.86831784e-02 1.02378432e+02] [-3.11403684e-01 9.50012369e-01 -2.24553876e-02 -1.80955890e+01] [-7.22607160e-02 -1.11123921e-04 9.97385771e-01 -1.07218249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.697719421 meters 0.05193679294766706 Centerline is valid? [True, True] Translation: X:102.41, Y:-18.11, Z:-10.73 [[ 9.48467857e-01 3.09270182e-01 6.89976788e-02 1.02406657e+02] [-3.08446824e-01 9.50974207e-01 -2.25524640e-02 -1.81091081e+01] [-7.25898175e-02 1.08172319e-04 9.97361873e-01 -1.07250814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.727719421 meters 0.05302578972103821 Centerline is valid? [True, True] Translation: X:102.43, Y:-18.13, Z:-10.73 [[ 9.50791607e-01 3.01941319e-01 6.94748830e-02 1.02433045e+02] [-3.01085239e-01 9.53326259e-01 -2.27315304e-02 -1.81266730e+01] [-7.30958186e-02 6.95086614e-04 9.97324680e-01 -1.07275656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75771942099999 meters 0.05313020052181673 Centerline is valid? [True, True] Translation: X:102.46, Y:-18.14, Z:-10.73 [[ 9.51681103e-01 2.99069261e-01 6.97184053e-02 1.02463282e+02] [-2.98199028e-01 9.54230959e-01 -2.28170348e-02 -1.81392059e+01] [-7.33513344e-02 9.24580074e-04 9.97305734e-01 -1.07267552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78771942099999 meters 0.05412348880504022 Centerline is valid? [True, True] Translation: X:102.49, Y:-18.15, Z:-10.73 [[ 9.52898258e-01 2.94553512e-01 7.22712768e-02 1.02493496e+02] [-2.93603556e-01 9.55634046e-01 -2.36753440e-02 -1.81523232e+01] [-7.60385484e-02 1.34109020e-03 9.97103977e-01 -1.07272435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81771942099999 meters 0.05535875956658532 Centerline is valid? [True, True] Translation: X:102.52, Y:-18.16, Z:-10.73 [[ 9.53148471e-01 2.93503933e-01 7.32354703e-02 1.02522428e+02] [-2.92523213e-01 9.55956735e-01 -2.40185392e-02 -1.81637676e+01] [-7.70594768e-02 1.47015888e-03 9.97025414e-01 -1.07327850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.847719421 meters 0.057029692104784875 Centerline is valid? [True, True] Translation: X:102.55, Y:-18.17, Z:-10.74 [[ 9.54654817e-01 2.88942714e-01 7.17376347e-02 1.02551912e+02] [-2.87986558e-01 9.57344639e-01 -2.35581097e-02 -1.81714533e+01] [-7.54845841e-02 1.83038838e-03 9.97145289e-01 -1.07382141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.877719421 meters 0.05803957315762831 Centerline is valid? [True, True] Translation: X:102.58, Y:-18.18, Z:-10.74 [[ 9.55059815e-01 2.87504071e-01 7.21259915e-02 1.02582583e+02] [-2.86533679e-01 9.57777428e-01 -2.36822656e-02 -1.81807556e+01] [-7.58893944e-02 1.95145449e-03 9.97114332e-01 -1.07422082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.907719421 meters 0.057315991223190935 Centerline is valid? [True, True] Translation: X:102.61, Y:-18.19, Z:-10.74 [[ 9.54964124e-01 2.87533462e-01 7.32668378e-02 1.02614775e+02] [-2.86530445e-01 9.57768501e-01 -2.40790801e-02 -1.81855105e+01] [-7.70962107e-02 2.00147800e-03 9.97021649e-01 -1.07413833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.937719421 meters 0.05528365199295887 Centerline is valid? [True, True] Translation: X:102.65, Y:-18.19, Z:-10.74 [[ 9.54476277e-01 2.89620722e-01 7.13783873e-02 1.02649178e+02] [-2.88673177e-01 9.57139793e-01 -2.34779475e-02 -1.81854089e+01] [-7.51187950e-02 1.80411809e-03 9.97172960e-01 -1.07421978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.967719421 meters 0.056767583987884056 Centerline is valid? [True, True] Translation: X:102.68, Y:-18.19, Z:-10.75 [[ 9.53820678e-01 2.92155952e-01 6.97926471e-02 1.02679020e+02] [-2.91254920e-01 9.56369363e-01 -2.29828872e-02 -1.81932631e+01] [-7.34621367e-02 1.59410128e-03 9.97296733e-01 -1.07532060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.997719421 meters 0.05344829883111358 Centerline is valid? [True, True] Translation: X:102.72, Y:-18.18, Z:-10.75 [[ 9.52066297e-01 2.98164744e-01 6.83194772e-02 1.02716056e+02] [-2.97315079e-01 9.54513755e-01 -2.25218746e-02 -1.81833033e+01] [-7.19271097e-02 1.12990699e-03 9.97409251e-01 -1.07541897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.027719421 meters 0.05326740550491859 Centerline is valid? [True, True] Translation: X:102.75, Y:-18.19, Z:-10.76 [[ 9.51131268e-01 3.01170926e-01 6.81570590e-02 1.02747457e+02] [-3.00331300e-01 9.53569725e-01 -2.24919727e-02 -1.81858869e+01] [-7.17664363e-02 9.23120319e-04 9.97421038e-01 -1.07603289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.057719421 meters 0.05257652106668176 Centerline is valid? [True, True] Translation: X:102.78, Y:-18.18, Z:-10.76 [[ 9.48942107e-01 3.08581048e-01 6.54722467e-02 1.02781241e+02] [-3.07822657e-01 9.51197983e-01 -2.16242656e-02 -1.81839343e+01] [-6.89499075e-02 3.66335205e-04 9.97620056e-01 -1.07649902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.087719421 meters 0.05200087636529294 Centerline is valid? [True, True] Translation: X:102.81, Y:-18.19, Z:-10.77 [[ 9.47391656e-01 3.13335552e-01 6.53443304e-02 1.02814062e+02] [-3.12589957e-01 9.49642475e-01 -2.16029744e-02 -1.81884083e+01] [-6.88227316e-02 4.04962698e-05 9.97628904e-01 -1.07668988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11771942099999 meters 0.05169065827195008 Centerline is valid? [True, True] Translation: X:102.85, Y:-18.18, Z:-10.77 [[ 9.44344077e-01 3.22120963e-01 6.67259257e-02 1.02848280e+02] [-3.21363676e-01 9.46698335e-01 -2.20827960e-02 -1.81832776e+01] [-7.02826543e-02 -5.89531179e-04 9.97526942e-01 -1.07704827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14771942099999 meters 0.05314091669532487 Centerline is valid? [True, True] Translation: X:102.88, Y:-18.17, Z:-10.78 [[ 9.41128939e-01 3.31368742e-01 6.68661075e-02 1.02883482e+02] [-3.30629799e-01 9.43500489e-01 -2.21531947e-02 -1.81733792e+01] [-7.04290814e-02 -1.25891501e-03 9.97515995e-01 -1.07765064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17771942099999 meters 0.05364458833958554 Centerline is valid? [True, True] Translation: X:102.92, Y:-18.18, Z:-10.78 [[ 9.39514142e-01 3.36005028e-01 6.64364164e-02 1.02916367e+02] [-3.35286253e-01 9.41858860e-01 -2.20230984e-02 -1.81760421e+01] [-6.99735992e-02 -1.58420476e-03 9.97547586e-01 -1.07775077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.207719421 meters 0.056384632202379166 Centerline is valid? [True, True] Translation: X:102.95, Y:-18.17, Z:-10.78 [[ 9.37370446e-01 3.41749628e-01 6.74080056e-02 1.02948713e+02] [-3.41023878e-01 9.39788834e-01 -2.23531345e-02 -1.81746523e+01] [-7.09884664e-02 -2.03457182e-03 9.97475061e-01 -1.07820781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.237719421 meters 0.056661107942446776 Centerline is valid? [True, True] Translation: X:102.98, Y:-18.19, Z:-10.78 [[ 9.36665382e-01 3.43529320e-01 6.81584054e-02 1.02978922e+02] [-3.42792322e-01 9.39139381e-01 -2.25975243e-02 -1.81859376e+01] [-7.17731548e-02 -2.19785931e-03 9.97418560e-01 -1.07828890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.267719421 meters 0.055416807573206495 Centerline is valid? [True, True] Translation: X:103.01, Y:-18.20, Z:-10.78 [[ 9.36531459e-01 3.43528342e-01 6.99793212e-02 1.03008956e+02] [-3.42749728e-01 9.39139649e-01 -2.32237764e-02 -1.81981335e+01] [-7.36983806e-02 -2.23559606e-03 9.97278071e-01 -1.07819522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.297719421 meters 0.05511443079588257 Centerline is valid? [True, True] Translation: X:103.04, Y:-18.21, Z:-10.79 [[ 9.36870313e-01 3.42495544e-01 7.05040414e-02 1.03039268e+02] [-3.41700553e-01 9.39516996e-01 -2.34210791e-02 -1.82065448e+01] [-7.42613604e-02 -2.14875618e-03 9.97236498e-01 -1.07866793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.327719421 meters 0.05574810367655081 Centerline is valid? [True, True] Translation: X:103.07, Y:-18.21, Z:-10.79 [[ 9.36549179e-01 3.43364660e-01 7.05432227e-02 1.03070298e+02] [-3.42569498e-01 9.39199598e-01 -2.34575118e-02 -1.82111963e+01] [-7.43086470e-02 -2.19684295e-03 9.97232871e-01 -1.07917018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.357719421 meters 0.056408570909648716 Centerline is valid? [True, True] Translation: X:103.10, Y:-18.22, Z:-10.80 [[ 9.35866641e-01 3.45234754e-01 7.04740802e-02 1.03100968e+02] [-3.44444914e-01 9.38513487e-01 -2.34549716e-02 -1.82195774e+01] [-7.42383461e-02 -2.32371306e-03 9.97237819e-01 -1.07951921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.387719421 meters 0.05806183412391416 Centerline is valid? [True, True] Translation: X:103.13, Y:-18.23, Z:-10.80 [[ 9.34478321e-01 3.49013450e-01 7.02842733e-02 1.03130767e+02] [-3.48236806e-01 9.37114122e-01 -2.34147157e-02 -1.82295684e+01] [-7.40364358e-02 -2.59502668e-03 9.97252161e-01 -1.07966277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.417719421 meters 0.05804201824132714 Centerline is valid? [True, True] Translation: X:103.16, Y:-18.24, Z:-10.80 [[ 9.34596429e-01 3.48851316e-01 6.95145604e-02 1.03160596e+02] [-3.48089818e-01 9.37174650e-01 -2.31765767e-02 -1.82439440e+01] [-7.32324632e-02 -2.53656480e-03 9.97311673e-01 -1.08013617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.447719421 meters 0.05618737891836346 Centerline is valid? [True, True] Translation: X:103.19, Y:-18.26, Z:-10.80 [[ 9.35224525e-01 3.47378297e-01 6.84354213e-02 1.03189243e+02] [-3.46634553e-01 9.37722106e-01 -2.28415841e-02 -1.82595873e+01] [-7.21080780e-02 -2.36007204e-03 9.97394032e-01 -1.08036590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.477719421 meters 0.05560514851703445 Centerline is valid? [True, True] Translation: X:103.22, Y:-18.28, Z:-10.81 [[ 9.37399829e-01 3.41675947e-01 6.73729031e-02 1.03215310e+02] [-3.40938289e-01 9.39815981e-01 -2.25167802e-02 -1.82758844e+01] [-7.10115732e-02 -1.86277637e-03 9.97473752e-01 -1.08123841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50771942099999 meters 0.05327098785385706 Centerline is valid? [True, True] Translation: X:103.24, Y:-18.30, Z:-10.81 [[ 9.39037882e-01 3.37286490e-01 6.66759318e-02 1.03242409e+02] [-3.36553359e-01 9.41400825e-01 -2.22783018e-02 -1.82962805e+01] [-7.02829475e-02 -1.51983952e-03 9.97525938e-01 -1.08127846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53771942099999 meters 0.05214412988443172 Centerline is valid? [True, True] Translation: X:103.27, Y:-18.32, Z:-10.82 [[ 9.42589372e-01 3.27653977e-01 6.45611872e-02 1.03266643e+02] [-3.26942621e-01 9.44797492e-01 -2.15921571e-02 -1.83218313e+01] [-6.80720039e-02 -7.55265995e-04 9.97680125e-01 -1.08180040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56771942099999 meters 0.05214960662394139 Centerline is valid? [True, True] Translation: X:103.29, Y:-18.34, Z:-10.82 [[ 9.44239237e-01 3.22730305e-01 6.52488640e-02 1.03293155e+02] [-3.21990146e-01 9.46490891e-01 -2.18481101e-02 -1.83385655e+01] [-6.88085026e-02 -3.79648422e-04 9.97629814e-01 -1.08239832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.597719421 meters 0.05189436342757051 Centerline is valid? [True, True] Translation: X:103.32, Y:-18.36, Z:-10.82 [[ 9.46995125e-01 3.14405116e-01 6.59519203e-02 1.03320079e+02] [-3.13628113e-01 9.49288874e-01 -2.20916139e-02 -1.83608943e+01] [-6.95531406e-02 2.36274310e-04 9.97578220e-01 -1.08224308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.627719421 meters 0.052724930695989235 Centerline is valid? [True, True] Translation: X:103.35, Y:-18.37, Z:-10.83 [[ 9.48042367e-01 3.11304681e-01 6.56130031e-02 1.03348174e+02] [-3.10526710e-01 9.50310035e-01 -2.19999903e-02 -1.83744702e+01] [-6.92013952e-02 4.82332857e-04 9.97602593e-01 -1.08274726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.657719421 meters 0.05271168588492043 Centerline is valid? [True, True] Translation: X:103.38, Y:-18.38, Z:-10.83 [[ 9.48144055e-01 3.10999040e-01 6.55930532e-02 1.03379212e+02] [-3.10219585e-01 9.50410083e-01 -2.20109896e-02 -1.83845095e+01] [-6.91856958e-02 5.21339171e-04 9.97603663e-01 -1.08309945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.687719421 meters 0.05216137070157903 Centerline is valid? [True, True] Translation: X:103.41, Y:-18.39, Z:-10.83 [[ 9.47131477e-01 3.13810195e-01 6.68216019e-02 1.03412255e+02] [-3.13006348e-01 9.49485672e-01 -2.24496119e-02 -1.83880789e+01] [-7.04910707e-02 3.47148505e-04 9.97512350e-01 -1.08328521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.717719421 meters 0.05154076434780409 Centerline is valid? [True, True] Translation: X:103.44, Y:-18.39, Z:-10.83 [[ 9.46091131e-01 3.16444690e-01 6.90965236e-02 1.03444253e+02] [-3.15590456e-01 9.48610946e-01 -2.32365580e-02 -1.83946520e+01] [-7.28988041e-02 1.77698066e-04 9.97339327e-01 -1.08335463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.747719421 meters 0.051272237968307675 Centerline is valid? [True, True] Translation: X:103.48, Y:-18.40, Z:-10.84 [[ 9.45279827e-01 3.18668552e-01 6.99742967e-02 1.03475532e+02] [-3.17796847e-01 9.47866211e-01 -2.35544306e-02 -1.84023936e+01] [-7.38323277e-02 2.79172819e-05 9.97270669e-01 -1.08355248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.777719421 meters 0.050894873308413496 Centerline is valid? [True, True] Translation: X:103.51, Y:-18.41, Z:-10.84 [[ 9.43286159e-01 3.24364976e-01 7.07006671e-02 1.03509184e+02] [-3.23489416e-01 9.45931922e-01 -2.38200836e-02 -1.84052702e+01] [-7.46044188e-02 -4.01762413e-04 9.97213126e-01 -1.08367378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.807719421 meters 0.0517721908149728 Centerline is valid? [True, True] Translation: X:103.54, Y:-18.40, Z:-10.84 [[ 9.40739674e-01 3.31672036e-01 7.07285475e-02 1.03542189e+02] [-3.30814253e-01 9.43394271e-01 -2.38574929e-02 -1.84031251e+01] [-7.46377697e-02 -9.54321484e-04 9.97210255e-01 -1.08419852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.837719421 meters 0.05263041540036707 Centerline is valid? [True, True] Translation: X:103.57, Y:-18.41, Z:-10.85 [[ 9.39458365e-01 3.35356257e-01 7.03857996e-02 1.03573944e+02] [-3.34515522e-01 9.42090596e-01 -2.37628880e-02 -1.84069966e+01] [-7.42788330e-02 -1.22089862e-03 9.97236764e-01 -1.08465059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86771942099999 meters 0.05510709301693585 Centerline is valid? [True, True] Translation: X:103.61, Y:-18.41, Z:-10.85 [[ 9.36478246e-01 3.43827653e-01 6.92173288e-02 1.03606285e+02] [-3.43035709e-01 9.39030978e-01 -2.33949839e-02 -1.84069397e+01] [-7.30410583e-02 -1.83512197e-03 9.97327246e-01 -1.08507031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89771942099999 meters 0.05716326891208109 Centerline is valid? [True, True] Translation: X:103.64, Y:-18.41, Z:-10.86 [[ 9.35193163e-01 3.47177021e-01 6.98703338e-02 1.03637043e+02] [-3.46379524e-01 9.37797221e-01 -2.36134926e-02 -1.84129720e+01] [-7.37222669e-02 -2.11847616e-03 9.97276561e-01 -1.08558309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92771942099999 meters 0.05716326891208109 Centerline is valid? [True, True] Translation: X:103.67, Y:-18.42, Z:-10.86 [[ 9.35087085e-01 3.47463021e-01 6.98683944e-02 1.03667580e+02] [-3.46665892e-01 9.37691256e-01 -2.36192315e-02 -1.84235872e+01] [-7.37217920e-02 -2.13495099e-03 9.97276561e-01 -1.08591609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.957719421 meters 0.05928496800805065 Centerline is valid? [True, True] Translation: X:103.70, Y:-18.43, Z:-10.86 [[ 9.33298719e-01 3.52527788e-01 6.83934237e-02 1.03697282e+02] [-3.51775285e-01 9.35798134e-01 -2.31516891e-02 -1.84308202e+01] [-7.21640521e-02 -2.45167440e-03 9.97389763e-01 -1.08632663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.987719421 meters 0.0587917972547963 Centerline is valid? [True, True] Translation: X:103.73, Y:-18.44, Z:-10.86 [[ 9.32587741e-01 3.54307319e-01 6.88943307e-02 1.03727212e+02] [-3.53548886e-01 9.35125392e-01 -2.33170668e-02 -1.84423449e+01] [-7.26862454e-02 -2.61230329e-03 9.97351435e-01 -1.08641427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.017719421 meters 0.05801124995329175 Centerline is valid? [True, True] Translation: X:103.76, Y:-18.46, Z:-10.86 [[ 9.31812972e-01 3.55989878e-01 7.06809177e-02 1.03757724e+02] [-3.55194775e-01 9.34485631e-01 -2.39431887e-02 -1.84553820e+01] [-7.45738348e-02 -2.79491884e-03 9.97211578e-01 -1.08632864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.047719421 meters 0.05947370947654825 Centerline is valid? [True, True] Translation: X:103.79, Y:-18.46, Z:-10.87 [[ 9.31894850e-01 3.55552697e-01 7.17932349e-02 1.03787666e+02] [-3.54728581e-01 9.34652122e-01 -2.43525089e-02 -1.84636427e+01] [-7.57602996e-02 -2.77313468e-03 9.97122203e-01 -1.08680587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.077719421 meters 0.06087499590193518 Centerline is valid? [True, True] Translation: X:103.82, Y:-18.47, Z:-10.87 [[ 9.31994316e-01 3.55168380e-01 7.24017701e-02 1.03816955e+02] [-3.54328184e-01 9.34798285e-01 -2.45703841e-02 -1.84739974e+01] [-7.64076741e-02 -2.75452939e-03 9.97072856e-01 -1.08733221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.107719421 meters 0.057949478985260636 Centerline is valid? [True, True] Translation: X:103.84, Y:-18.49, Z:-10.87 [[ 9.32009207e-01 3.54972436e-01 7.31669873e-02 1.03844688e+02] [-3.54112201e-01 9.34872726e-01 -2.48502377e-02 -1.84923817e+01] [-7.72229703e-02 -2.74867265e-03 9.97010059e-01 -1.08712480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.137719421 meters 0.057228520565467164 Centerline is valid? [True, True] Translation: X:103.88, Y:-18.51, Z:-10.87 [[ 9.31735807e-01 3.55572548e-01 7.37329588e-02 1.03875289e+02] [-3.54698692e-01 9.34644506e-01 -2.50696164e-02 -1.85050338e+01] [-7.78281723e-02 -2.79472471e-03 9.96962870e-01 -1.08734144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.167719421 meters 0.05921737537443983 Centerline is valid? [True, True] Translation: X:103.91, Y:-18.51, Z:-10.88 [[ 9.30890143e-01 3.58085490e-01 7.22379632e-02 1.03905538e+02] [-3.57253661e-01 9.33684188e-01 -2.45694719e-02 -1.85117941e+01] [-7.62454154e-02 -2.93579757e-03 9.97084760e-01 -1.08799494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.197719421 meters 0.06042784783804849 Centerline is valid? [True, True] Translation: X:103.94, Y:-18.52, Z:-10.89 [[ 9.30551485e-01 3.59239524e-01 7.08582955e-02 1.03935327e+02] [-3.58440670e-01 9.33240735e-01 -2.41250412e-02 -1.85196862e+01] [-7.47945160e-02 -2.94890203e-03 9.97194607e-01 -1.08854306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.227719421 meters 0.062407815168723714 Centerline is valid? [True, True] Translation: X:103.96, Y:-18.53, Z:-10.89 [[ 9.29627854e-01 3.62069477e-01 6.85401118e-02 1.03963277e+02] [-3.61328858e-01 9.32146087e-01 -2.33480190e-02 -1.85290944e+01] [-7.23430020e-02 -3.06055146e-03 9.97375117e-01 -1.08915814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25771942099999 meters 0.06325000367756664 Centerline is valid? [True, True] Translation: X:103.99, Y:-18.54, Z:-10.90 [[ 9.28977785e-01 3.63806920e-01 6.81527674e-02 1.03992797e+02] [-3.63078793e-01 9.31468985e-01 -2.32232584e-02 -1.85413777e+01] [-7.19309712e-02 -3.17093333e-03 9.97404572e-01 -1.08951428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28771942099999 meters 0.0651476673557254 Centerline is valid? [True, True] Translation: X:104.02, Y:-18.55, Z:-10.90 [[ 9.27849318e-01 3.66734768e-01 6.78325388e-02 1.04021342e+02] [-3.66020735e-01 9.30319418e-01 -2.31214568e-02 -1.85539374e+01] [-7.15853701e-02 -3.37488775e-03 9.97428767e-01 -1.08988522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31771942099999 meters 0.06598728865959605 Centerline is valid? [True, True] Translation: X:104.05, Y:-18.56, Z:-10.90 [[ 9.27235013e-01 3.68286901e-01 6.78232145e-02 1.04051067e+02] [-3.67577485e-01 9.29705611e-01 -2.31142738e-02 -1.85642499e+01] [-7.15683073e-02 -3.49792264e-03 9.97429567e-01 -1.09028053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.347719421 meters 0.06270776210756228 Centerline is valid? [True, True] Translation: X:104.08, Y:-18.59, Z:-10.90 [[ 9.26911699e-01 3.69198756e-01 6.72828409e-02 1.04077851e+02] [-3.68501761e-01 9.29343781e-01 -2.29475246e-02 -1.85853463e+01] [-7.10010873e-02 -3.52351632e-03 9.97470015e-01 -1.09026172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.377719421 meters 0.06655870822393814 Centerline is valid? [True, True] Translation: X:104.11, Y:-18.59, Z:-10.91 [[ 9.27146479e-01 3.68503316e-01 6.78580324e-02 1.04108137e+02] [-3.67790533e-01 9.29619940e-01 -2.31709197e-02 -1.85917942e+01] [-7.16207407e-02 -3.47470525e-03 9.97425885e-01 -1.09109889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.407719421 meters 0.060798799599919046 Centerline is valid? [True, True] Translation: X:104.13, Y:-18.62, Z:-10.91 [[ 9.29236786e-01 3.63510820e-01 6.61731102e-02 1.04131436e+02] [-3.62819270e-01 9.31585154e-01 -2.26114539e-02 -1.86227497e+01] [-6.98653952e-02 -2.99748485e-03 9.97551924e-01 -1.09099826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.437719421 meters 0.05986521539574049 Centerline is valid? [True, True] Translation: X:104.16, Y:-18.64, Z:-10.91 [[ 9.30535666e-01 3.60154857e-01 6.62710580e-02 1.04158672e+02] [-3.59452440e-01 9.32888495e-01 -2.26495117e-02 -1.86406480e+01] [-6.99808392e-02 -2.74511498e-03 9.97544559e-01 -1.09136619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.467719421 meters 0.058644112669896435 Centerline is valid? [True, True] Translation: X:104.18, Y:-18.66, Z:-10.92 [[ 9.33941981e-01 3.51191428e-01 6.64601953e-02 1.04182361e+02] [-3.50461765e-01 9.36301389e-01 -2.27213753e-02 -1.86607993e+01] [-7.02063254e-02 -2.07131113e-03 9.97530341e-01 -1.09214682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.497719421 meters 0.054662862174653264 Centerline is valid? [True, True] Translation: X:104.21, Y:-18.68, Z:-10.92 [[ 9.35666868e-01 3.45980784e-01 6.94608394e-02 1.04208118e+02] [-3.45169464e-01 9.38239951e-01 -2.37452194e-02 -1.86822820e+01] [-7.33863242e-02 -1.75814565e-03 9.97302039e-01 -1.09167068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.527719421 meters 0.054072522529429255 Centerline is valid? [True, True] Translation: X:104.24, Y:-18.69, Z:-10.92 [[ 9.36135850e-01 3.44418531e-01 7.08910827e-02 1.04237895e+02] [-3.43569405e-01 9.38814715e-01 -2.42279731e-02 -1.86935655e+01] [-7.48981545e-02 -1.67533295e-03 9.97189781e-01 -1.09183819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.557719421 meters 0.05366006111046436 Centerline is valid? [True, True] Translation: X:104.27, Y:-18.71, Z:-10.92 [[ 9.36939007e-01 3.42111639e-01 7.14487432e-02 1.04266137e+02] [-3.41240593e-01 9.39658148e-01 -2.44422379e-02 -1.87084954e+01] [-7.54993678e-02 -1.48032533e-03 9.97144751e-01 -1.09208901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.587719421 meters 0.053607068867365 Centerline is valid? [True, True] Translation: X:104.30, Y:-18.72, Z:-10.92 [[ 9.37467406e-01 3.40896447e-01 7.03169651e-02 1.04295058e+02] [-3.40047321e-01 9.40099906e-01 -2.40829239e-02 -1.87219740e+01] [-7.43147554e-02 -1.33413941e-03 9.97233943e-01 -1.09248651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61771942099999 meters 0.05348968368150416 Centerline is valid? [True, True] Translation: X:104.32, Y:-18.74, Z:-10.93 [[ 9.38145712e-01 3.39357118e-01 6.86976691e-02 1.04323094e+02] [-3.38542394e-01 9.40656872e-01 -2.35307809e-02 -1.87351106e+01] [-7.26062725e-02 -1.18177212e-03 9.97359981e-01 -1.09301064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64771942099999 meters 0.05347824415391587 Centerline is valid? [True, True] Translation: X:104.35, Y:-18.75, Z:-10.93 [[ 9.38153319e-01 3.39366539e-01 6.85470780e-02 1.04353617e+02] [-3.38554089e-01 9.40653497e-01 -2.34974028e-02 -1.87458601e+01] [-7.24532809e-02 -1.16272718e-03 9.97371130e-01 -1.09341635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67771942099999 meters 0.05379826326171055 Centerline is valid? [True, True] Translation: X:104.38, Y:-18.76, Z:-10.94 [[ 9.38383134e-01 3.39078726e-01 6.68035248e-02 1.04382839e+02] [-3.38304331e-01 9.40757377e-01 -2.29289372e-02 -1.87563075e+01] [-7.06206236e-02 -1.08379386e-03 9.97502658e-01 -1.09400903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.707719421 meters 0.05387150996856147 Centerline is valid? [True, True] Translation: X:104.41, Y:-18.77, Z:-10.94 [[ 9.38057941e-01 3.40289295e-01 6.51958261e-02 1.04412742e+02] [-3.39554301e-01 9.40320101e-01 -2.23826659e-02 -1.87669981e+01] [-6.89215274e-02 -1.14128570e-03 9.97621431e-01 -1.09436709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.737719421 meters 0.054488672519538574 Centerline is valid? [True, True] Translation: X:104.44, Y:-18.78, Z:-10.95 [[ 9.37526519e-01 3.41633716e-01 6.58060096e-02 1.04443043e+02] [-3.40886742e-01 9.39832371e-01 -2.26128935e-02 -1.87755563e+01] [-6.95719448e-02 -1.23220895e-03 9.97576176e-01 -1.09486450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.767719421 meters 0.05485061174759168 Centerline is valid? [True, True] Translation: X:104.48, Y:-18.78, Z:-10.95 [[ 9.35764702e-01 3.45923046e-01 6.84227205e-02 1.04475630e+02] [-3.45125087e-01 9.38261540e-01 -2.35362723e-02 -1.87842861e+01] [-7.23401462e-02 -1.58998453e-03 9.97378752e-01 -1.09477074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.797719421 meters 0.055739198787572844 Centerline is valid? [True, True] Translation: X:104.51, Y:-18.79, Z:-10.95 [[ 9.34889812e-01 3.48468159e-01 6.74609619e-02 1.04506214e+02] [-3.47696834e-01 9.37319019e-01 -2.32372233e-02 -1.87928268e+01] [-7.13298751e-02 -1.73171957e-03 9.97451277e-01 -1.09527639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.827719421 meters 0.057914894779118015 Centerline is valid? [True, True] Translation: X:104.54, Y:-18.80, Z:-10.96 [[ 9.33390427e-01 3.52870618e-01 6.53041986e-02 1.04535712e+02] [-3.52158030e-01 9.35670002e-01 -2.25026496e-02 -1.87977314e+01] [-6.90437035e-02 -1.99364028e-03 9.97611644e-01 -1.09591185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.857719421 meters 0.05855994738942567 Centerline is valid? [True, True] Translation: X:104.57, Y:-18.81, Z:-10.96 [[ 9.32535333e-01 3.54904047e-01 6.64903733e-02 1.04566286e+02] [-3.54171111e-01 9.34900162e-01 -2.29021976e-02 -1.88062149e+01] [-7.02899434e-02 -2.19186098e-03 9.97524195e-01 -1.09614526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.887719421 meters 0.05982125841487988 Centerline is valid? [True, True] Translation: X:104.60, Y:-18.81, Z:-10.96 [[ 9.30117465e-01 3.60459639e-01 7.03587232e-02 1.04598140e+02] [-3.59652953e-01 9.32770780e-01 -2.42574849e-02 -1.88132519e+01] [-7.43724054e-02 -2.74241218e-03 9.97226767e-01 -1.09581688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.917719421 meters 0.06128401852236553 Centerline is valid? [True, True] Translation: X:104.63, Y:-18.82, Z:-10.96 [[ 9.29129004e-01 3.62537170e-01 7.27055259e-02 1.04628609e+02] [-3.61679965e-01 9.31964545e-01 -2.50935993e-02 -1.88196719e+01] [-7.68563349e-02 -2.98094116e-03 9.97037721e-01 -1.09599019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.947719421 meters 0.06268893486365497 Centerline is valid? [True, True] Translation: X:104.66, Y:-18.83, Z:-10.96 [[ 9.28188755e-01 3.64058235e-01 7.69885490e-02 1.04659820e+02] [-3.63101166e-01 9.31370412e-01 -2.65838062e-02 -1.88257562e+01] [-8.13829102e-02 -3.27984191e-03 9.96677513e-01 -1.09601345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.977719421 meters 0.0644931731731012 Centerline is valid? [True, True] Translation: X:104.69, Y:-18.83, Z:-10.96 [[ 9.27161177e-01 3.66666836e-01 7.69907998e-02 1.04690813e+02] [-3.65716589e-01 9.30345788e-01 -2.66099718e-02 -1.88342012e+01] [-8.13850605e-02 -3.48507996e-03 9.96676641e-01 -1.09631096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00771942099999 meters 0.06436368980853444 Centerline is valid? [True, True] Translation: X:104.72, Y:-18.85, Z:-10.97 [[ 9.26415981e-01 3.68837488e-01 7.55800075e-02 1.04719780e+02] [-3.67928415e-01 9.29486922e-01 -2.61293636e-02 -1.88461381e+01] [-7.98881173e-02 -3.60137237e-03 9.96797331e-01 -1.09665076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03771942099999 meters 0.06804814234012381 Centerline is valid? [True, True] Translation: X:104.75, Y:-18.85, Z:-10.98 [[ 9.24832332e-01 3.73691801e-01 7.09901111e-02 1.04749134e+02] [-3.72903909e-01 9.27545259e-01 -2.45451979e-02 -1.88513467e+01] [-7.50188802e-02 -3.77229734e-03 9.97174978e-01 -1.09762287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06771942099999 meters 0.07052171926733174 Centerline is valid? [True, True] Translation: X:104.78, Y:-18.86, Z:-10.98 [[ 9.23882307e-01 3.76163433e-01 7.03033055e-02 1.04779035e+02] [-3.75397536e-01 9.26544993e-01 -2.43118515e-02 -1.88569448e+01] [-7.42844053e-02 -3.93039820e-03 9.97229351e-01 -1.09824180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.097719421 meters 0.07781054509370844 Centerline is valid? [True, True] Translation: X:104.81, Y:-18.86, Z:-10.99 [[ 9.21168035e-01 3.82962005e-01 6.92065965e-02 1.04809730e+02] [-3.82238684e-01 9.23753591e-01 -2.39351436e-02 -1.88561553e+01] [-7.30960926e-02 -4.40514923e-03 9.97315174e-01 -1.09908269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.127719421 meters 0.07777663993211148 Centerline is valid? [True, True] Translation: X:104.84, Y:-18.87, Z:-10.99 [[ 9.20137545e-01 3.85592384e-01 6.83038208e-02 1.04837806e+02] [-3.84895203e-01 9.22657985e-01 -2.36204350e-02 -1.88690941e+01] [-7.21289256e-02 -4.55576390e-03 9.97384912e-01 -1.09935550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.157719421 meters 0.07987099915828277 Centerline is valid? [True, True] Translation: X:104.87, Y:-18.88, Z:-11.00 [[ 9.19587873e-01 3.87266800e-01 6.62009738e-02 1.04865344e+02] [-3.86616131e-01 9.21956510e-01 -2.28945512e-02 -1.88828578e+01] [-6.99007183e-02 -4.54081270e-03 9.97543618e-01 -1.09993778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.187719421 meters 0.07970593215204803 Centerline is valid? [True, True] Translation: X:104.89, Y:-18.90, Z:-11.00 [[ 9.19736524e-01 3.86810845e-01 6.67989248e-02 1.04894508e+02] [-3.86147629e-01 9.22147840e-01 -2.30947926e-02 -1.88973552e+01] [-7.05318005e-02 -4.55312212e-03 9.97499140e-01 -1.10024048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.217719421 meters 0.07137889608680582 Centerline is valid? [True, True] Translation: X:104.92, Y:-18.93, Z:-11.00 [[ 9.21185157e-01 3.83100679e-01 6.82039312e-02 1.04916664e+02] [-3.82397107e-01 9.23696429e-01 -2.36084537e-02 -1.89274239e+01] [-7.20441424e-02 -4.33322889e-03 9.97392032e-01 -1.10004991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.247719421 meters 0.06812442235149514 Centerline is valid? [True, True] Translation: X:104.94, Y:-18.95, Z:-11.00 [[ 9.23320013e-01 3.77607586e-01 6.99475871e-02 1.04941809e+02] [-3.76851781e-01 9.25957062e-01 -2.42127074e-02 -1.89498130e+01] [-7.39113642e-02 -4.00379548e-03 9.97256777e-01 -1.10019066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.277719421 meters 0.06667047334114289 Centerline is valid? [True, True] Translation: X:104.97, Y:-18.97, Z:-11.00 [[ 9.24423853e-01 3.74815502e-01 7.03838074e-02 1.04969202e+02] [-3.74042135e-01 9.27091620e-01 -2.43641139e-02 -1.89662561e+01] [-7.43842856e-02 -3.80374157e-03 9.97222397e-01 -1.10035567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.307719421 meters 0.06319844026673939 Centerline is valid? [True, True] Translation: X:104.99, Y:-18.99, Z:-11.01 [[ 9.27436816e-01 3.67390412e-01 6.98944709e-02 1.04992230e+02] [-3.66606364e-01 9.30061380e-01 -2.41992600e-02 -1.89888277e+01] [-7.38967241e-02 -3.18047321e-03 9.97260828e-01 -1.10062985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.337719421 meters 0.06115783475055657 Centerline is valid? [True, True] Translation: X:105.02, Y:-19.01, Z:-11.01 [[ 9.29007887e-01 3.63225744e-01 7.07912783e-02 1.05018782e+02] [-3.62409494e-01 9.31696690e-01 -2.45079016e-02 -1.90057954e+01] [-7.48579004e-02 -2.88739745e-03 9.97190031e-01 -1.10085613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36771942099999 meters 0.05968026824465788 Centerline is valid? [True, True] Translation: X:105.04, Y:-19.02, Z:-11.01 [[ 9.32067615e-01 3.54780398e-01 7.33541476e-02 1.05044506e+02] [-3.53877587e-01 9.34946865e-01 -2.53971028e-02 -1.90227864e+01] [-7.75926246e-02 -2.28657170e-03 9.96982526e-01 -1.10128104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39771942099999 meters 0.05727331245516403 Centerline is valid? [True, True] Translation: X:105.07, Y:-19.04, Z:-11.01 [[ 9.33668328e-01 3.50091942e-01 7.54922921e-02 1.05071656e+02] [-3.49120299e-01 9.36713309e-01 -2.61379728e-02 -1.90388140e+01] [-7.98653283e-02 -1.95169431e-03 9.96803752e-01 -1.10134735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42771942099999 meters 0.0532554739184557 Centerline is valid? [True, True] Translation: X:105.10, Y:-19.06, Z:-11.01 [[ 9.36120944e-01 3.43483440e-01 7.54765144e-02 1.05096729e+02] [-3.42490642e-01 9.39157711e-01 -2.61333977e-02 -1.90625401e+01] [-7.98607398e-02 -1.38597894e-03 9.96805067e-01 -1.10109915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.457719421 meters 0.05291663739329733 Centerline is valid? [True, True] Translation: X:105.13, Y:-19.08, Z:-11.01 [[ 9.36946785e-01 3.41617487e-01 7.36764203e-02 1.05126827e+02] [-3.40666100e-01 9.39838310e-01 -2.55060583e-02 -1.90757818e+01] [-7.79572379e-02 -1.20123944e-03 9.96955980e-01 -1.10146330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.487719421 meters 0.05308186089789583 Centerline is valid? [True, True] Translation: X:105.16, Y:-19.09, Z:-11.02 [[ 9.38093648e-01 3.38828004e-01 7.19436642e-02 1.05156258e+02] [-3.37910760e-01 9.40847880e-01 -2.49316231e-02 -1.90877321e+01] [-7.61355760e-02 -9.22340905e-04 9.97097048e-01 -1.10221350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.517719421 meters 0.053078788752158886 Centerline is valid? [True, True] Translation: X:105.19, Y:-19.10, Z:-11.03 [[ 9.38692216e-01 3.37509314e-01 7.03163323e-02 1.05185526e+02] [-3.36627527e-01 9.41321872e-01 -2.43934826e-02 -1.90992725e+01] [-7.44233291e-02 -7.72440827e-04 9.97226439e-01 -1.10272003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.547719421 meters 0.053232076485011555 Centerline is valid? [True, True] Translation: X:105.22, Y:-19.11, Z:-11.03 [[ 9.38873356e-01 3.37313111e-01 6.88235970e-02 1.05215880e+02] [-3.36466353e-01 9.41392238e-01 -2.38966048e-02 -1.91080191e+01] [-7.28506381e-02 -7.20939161e-04 9.97342602e-01 -1.10328053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.577719421 meters 0.05330202100867703 Centerline is valid? [True, True] Translation: X:105.25, Y:-19.12, Z:-11.04 [[ 9.38942703e-01 3.37173682e-01 6.85602534e-02 1.05246637e+02] [-3.36331518e-01 9.41442210e-01 -2.38259298e-02 -1.91164145e+01] [-7.25789930e-02 -6.87791222e-04 9.97362430e-01 -1.10382845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.607719421 meters 0.053287472045961584 Centerline is valid? [True, True] Translation: X:105.28, Y:-19.13, Z:-11.04 [[ 9.38859598e-01 3.37186915e-01 6.96249856e-02 1.05277561e+02] [-3.36316590e-01 9.41437479e-01 -2.42203399e-02 -1.91264974e+01] [-7.37143526e-02 -6.76539108e-04 9.97279167e-01 -1.10399887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.637719421 meters 0.05307634238340021 Centerline is valid? [True, True] Translation: X:105.31, Y:-19.14, Z:-11.04 [[ 9.39053515e-01 3.36565330e-01 7.00162463e-02 1.05306906e+02] [-3.35681830e-01 9.41659920e-01 -2.43783394e-02 -1.91384426e+01] [-7.41363967e-02 -6.10616369e-04 9.97247924e-01 -1.10414479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.667719421 meters 0.05291734677689025 Centerline is valid? [True, True] Translation: X:105.34, Y:-19.15, Z:-11.04 [[ 9.38856138e-01 3.36873721e-01 7.11705507e-02 1.05337803e+02] [-3.35960015e-01 9.41549630e-01 -2.48024664e-02 -1.91476716e+01] [-7.53659049e-02 -6.24511447e-04 9.97155750e-01 -1.10433201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.697719421 meters 0.05277849854288917 Centerline is valid? [True, True] Translation: X:105.37, Y:-19.15, Z:-11.04 [[ 9.38011060e-01 3.39083670e-01 7.18158512e-02 1.05370434e+02] [-3.38158202e-01 9.40755888e-01 -2.50477623e-02 -1.91544440e+01] [-7.60544720e-02 -7.90041063e-04 9.97103351e-01 -1.10445829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.727719421 meters 0.05362661796836477 Centerline is valid? [True, True] Translation: X:105.40, Y:-19.16, Z:-11.05 [[ 9.37036449e-01 3.41827868e-01 7.15290274e-02 1.05400653e+02] [-3.40915363e-01 9.39762071e-01 -2.49792838e-02 -1.91589288e+01] [-7.57588823e-02 -9.78844947e-04 9.97125686e-01 -1.10517518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75771942099999 meters 0.05493515862795009 Centerline is valid? [True, True] Translation: X:105.43, Y:-19.16, Z:-11.05 [[ 9.34606927e-01 3.48648975e-01 7.03831275e-02 1.05433858e+02] [-3.47783749e-01 9.37252187e-01 -2.45927394e-02 -1.91582265e+01] [-7.45409736e-02 -1.49356331e-03 9.97216833e-01 -1.10545156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78771942099999 meters 0.05734422362619941 Centerline is valid? [True, True] Translation: X:105.47, Y:-19.16, Z:-11.06 [[ 9.32692104e-01 3.53504649e-01 7.15534969e-02 1.05465859e+02] [-3.52624190e-01 9.35430823e-01 -2.50071260e-02 -1.91584547e+01] [-7.57734818e-02 -1.90754490e-03 9.97123232e-01 -1.10595744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81771942099999 meters 0.05734422362619941 Centerline is valid? [True, True] Translation: X:105.50, Y:-19.17, Z:-11.06 [[ 9.32587743e-01 3.53779621e-01 7.15547425e-02 1.05496257e+02] [-3.52900243e-01 9.35326809e-01 -2.50035662e-02 -1.91693650e+01] [-7.57728212e-02 -1.93366665e-03 9.97123232e-01 -1.10628998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.847719421 meters 0.06057257335788044 Centerline is valid? [True, True] Translation: X:105.53, Y:-19.17, Z:-11.06 [[ 9.29732662e-01 3.61073290e-01 7.22721057e-02 1.05528616e+02] [-3.60195590e-01 9.32534030e-01 -2.52867314e-02 -1.91664617e+01] [-7.65265613e-02 -2.52219374e-03 9.97064353e-01 -1.10638295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.877719421 meters 0.06216004270743305 Centerline is valid? [True, True] Translation: X:105.56, Y:-19.17, Z:-11.07 [[ 9.28601542e-01 3.63821907e-01 7.30260015e-02 1.05559311e+02] [-3.62934727e-01 9.31464371e-01 -2.55442768e-02 -1.91715084e+01] [-7.73146860e-02 -2.78321715e-03 9.97002855e-01 -1.10673227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.907719421 meters 0.061398412975727505 Centerline is valid? [True, True] Translation: X:105.59, Y:-19.18, Z:-11.07 [[ 9.27494873e-01 3.66818792e-01 7.20918526e-02 1.05589344e+02] [-3.65961809e-01 9.30287650e-01 -2.52357312e-02 -1.91812384e+01] [-7.63231006e-02 -2.97685347e-03 9.97078694e-01 -1.10696319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.937719421 meters 0.06253658112673709 Centerline is valid? [True, True] Translation: X:105.62, Y:-19.19, Z:-11.08 [[ 9.27000044e-01 3.68557103e-01 6.95455286e-02 1.05619963e+02] [-3.67763133e-01 9.29600297e-01 -2.43632014e-02 -1.91885735e+01] [-7.36287749e-02 -2.99159266e-03 9.97281231e-01 -1.10763499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.967719421 meters 0.06244533591392074 Centerline is valid? [True, True] Translation: X:105.65, Y:-19.20, Z:-11.08 [[ 9.27094024e-01 3.68269511e-01 6.98157428e-02 1.05650043e+02] [-3.67467106e-01 9.29714360e-01 -2.44772222e-02 -1.92000526e+01] [-7.39229133e-02 -2.96230254e-03 9.97259559e-01 -1.10792525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.997719421 meters 0.06414699161238109 Centerline is valid? [True, True] Translation: X:105.68, Y:-19.21, Z:-11.08 [[ 9.25793171e-01 3.71379432e-01 7.05997328e-02 1.05679766e+02] [-3.70566204e-01 9.28475585e-01 -2.47745129e-02 -1.92107979e+01] [-7.47508727e-02 -3.22580014e-03 9.97197022e-01 -1.10814149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.027719421 meters 0.06393866739425287 Centerline is valid? [True, True] Translation: X:105.71, Y:-19.22, Z:-11.08 [[ 9.25291890e-01 3.72712846e-01 7.01430869e-02 1.05709016e+02] [-3.71912481e-01 9.27940885e-01 -2.46337366e-02 -1.92224392e+01] [-7.42699482e-02 -3.29369280e-03 9.97232734e-01 -1.10846143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.057719421 meters 0.06427895073772955 Centerline is valid? [True, True] Translation: X:105.74, Y:-19.23, Z:-11.09 [[ 9.24845245e-01 3.74071894e-01 6.87858361e-02 1.05738924e+02] [-3.73304178e-01 9.27393788e-01 -2.41816762e-02 -1.92342480e+01] [-7.28372425e-02 -3.31373178e-03 9.97338335e-01 -1.10898670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.087719421 meters 0.06494907416190564 Centerline is valid? [True, True] Translation: X:105.77, Y:-19.25, Z:-11.09 [[ 9.24456146e-01 3.75182588e-01 6.79621884e-02 1.05768350e+02] [-3.74436181e-01 9.26944837e-01 -2.38917321e-02 -1.92460227e+01] [-7.19609615e-02 -3.36064369e-03 9.97401788e-01 -1.10947469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11771942099999 meters 0.06398938381388766 Centerline is valid? [True, True] Translation: X:105.79, Y:-19.27, Z:-11.10 [[ 9.25329819e-01 3.72905864e-01 6.85998730e-02 1.05793946e+02] [-3.72137021e-01 9.27863709e-01 -2.41448695e-02 -1.92659765e+01] [-7.26550960e-02 -3.18658466e-03 9.97352035e-01 -1.10972401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14771942099999 meters 0.06058518780239821 Centerline is valid? [True, True] Translation: X:105.82, Y:-19.29, Z:-11.10 [[ 9.28246268e-01 3.65147877e-01 7.08935472e-02 1.05817566e+02] [-3.64303758e-01 9.30945727e-01 -2.49564570e-02 -1.92896009e+01] [-7.51108421e-02 -2.66104767e-03 9.97171640e-01 -1.10980411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17771942099999 meters 0.058643576126703394 Centerline is valid? [True, True] Translation: X:105.84, Y:-19.31, Z:-11.10 [[ 9.29749443e-01 3.61060693e-01 7.21190000e-02 1.05844602e+02] [-3.60174839e-01 9.32539304e-01 -2.53876440e-02 -1.93066111e+01] [-7.64202824e-02 -2.37130131e-03 9.97072875e-01 -1.11003662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.207719421 meters 0.05619273484883341 Centerline is valid? [True, True] Translation: X:105.87, Y:-19.33, Z:-11.10 [[ 9.31621991e-01 3.56281166e-01 7.17230632e-02 1.05871080e+02] [-3.55390751e-01 9.34376725e-01 -2.52497542e-02 -1.93257432e+01] [-7.60123727e-02 -1.96648700e-03 9.97104935e-01 -1.11024504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.237719421 meters 0.05348190856489213 Centerline is valid? [True, True] Translation: X:105.89, Y:-19.35, Z:-11.11 [[ 9.35667538e-01 3.45452316e-01 7.20344110e-02 1.05894464e+02] [-3.44521647e-01 9.38435677e-01 -2.53636746e-02 -1.93494760e+01] [-7.63616014e-02 -1.08544694e-03 9.97079599e-01 -1.11060785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.267719421 meters 0.05247453755372968 Centerline is valid? [True, True] Translation: X:105.92, Y:-19.37, Z:-11.11 [[ 9.37485405e-01 3.40252941e-01 7.31372068e-02 1.05922032e+02] [-3.39278253e-01 9.40333704e-01 -2.57447384e-02 -1.93678266e+01] [-7.75331035e-02 -6.78547294e-04 9.96989547e-01 -1.11066294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.297719421 meters 0.052104452136764456 Centerline is valid? [True, True] Translation: X:105.95, Y:-19.39, Z:-11.11 [[ 9.41093503e-01 3.30142410e-01 7.31369127e-02 1.05947524e+02] [-3.29135406e-01 9.43931119e-01 -2.57667766e-02 -1.93922460e+01] [-7.75429136e-02 1.76998615e-04 9.96989000e-01 -1.11054769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.327719421 meters 0.0526283342562956 Centerline is valid? [True, True] Translation: X:105.98, Y:-19.41, Z:-11.11 [[ 9.42578212e-01 3.25883869e-01 7.31164656e-02 1.05975995e+02] [-3.24862748e-01 9.45409647e-01 -2.57835952e-02 -1.94081859e+01] [-7.75274697e-02 5.50239129e-04 9.96990064e-01 -1.11085563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.357719421 meters 0.05367998680714537 Centerline is valid? [True, True] Translation: X:106.00, Y:-19.42, Z:-11.11 [[ 9.44432253e-01 3.20726120e-01 7.19894126e-02 1.06003709e+02] [-3.19719205e-01 9.47171466e-01 -2.54134551e-02 -1.94203674e+01] [-7.63370763e-02 9.84888916e-04 9.97081582e-01 -1.11146434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.387719421 meters 0.05449426419548149 Centerline is valid? [True, True] Translation: X:106.03, Y:-19.43, Z:-11.12 [[ 9.44192304e-01 3.21637702e-01 7.10639235e-02 1.06033922e+02] [-3.20658569e-01 9.46862380e-01 -2.50941238e-02 -1.94258140e+01] [-7.53589721e-02 9.06422489e-04 9.97156058e-01 -1.11247851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.417719421 meters 0.053628145336581785 Centerline is valid? [True, True] Translation: X:106.07, Y:-19.43, Z:-11.13 [[ 9.43761564e-01 3.23037604e-01 7.04330606e-02 1.06066979e+02] [-3.22078128e-01 9.46385785e-01 -2.48922663e-02 -1.94321531e+01] [-7.46979854e-02 8.07415868e-04 9.97205876e-01 -1.11258196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.447719421 meters 0.05312892975725042 Centerline is valid? [True, True] Translation: X:106.10, Y:-19.44, Z:-11.13 [[ 9.41846838e-01 3.28700545e-01 6.98604791e-02 1.06099093e+02] [-3.27770098e-01 9.44434120e-01 -2.47175358e-02 -1.94351795e+01] [-7.41032876e-02 3.81956834e-04 9.97250499e-01 -1.11298597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.477719421 meters 0.05297479503542067 Centerline is valid? [True, True] Translation: X:106.13, Y:-19.44, Z:-11.13 [[ 9.40910299e-01 3.31663255e-01 6.84638176e-02 1.06130420e+02] [-3.30776112e-01 9.43397826e-01 -2.42426332e-02 -1.94412051e+01] [-7.26290073e-02 1.63947910e-04 9.97359013e-01 -1.11332835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50771942099999 meters 0.05329677674016017 Centerline is valid? [True, True] Translation: X:106.16, Y:-19.44, Z:-11.14 [[ 9.38929614e-01 3.37768010e-01 6.57567534e-02 1.06162363e+02] [-3.36962669e-01 9.41229355e-01 -2.33122424e-02 -1.94409161e+01] [-6.97663164e-02 -2.69016405e-04 9.97563326e-01 -1.11408102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53771942099999 meters 0.05340098464747394 Centerline is valid? [True, True] Translation: X:106.19, Y:-19.45, Z:-11.14 [[ 9.37665090e-01 3.41342802e-01 6.53396520e-02 1.06193961e+02] [-3.40556641e-01 9.39938724e-01 -2.31596564e-02 -1.94456729e+01] [-6.93206511e-02 -5.35851147e-04 9.97594286e-01 -1.11447439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56771942099999 meters 0.054203685744481506 Centerline is valid? [True, True] Translation: X:106.23, Y:-19.44, Z:-11.15 [[ 9.34257560e-01 3.50502722e-01 6.56555639e-02 1.06229360e+02] [-3.49729664e-01 9.36560949e-01 -2.32970307e-02 -1.94421362e+01] [-6.96561099e-02 -1.19627127e-03 9.97570346e-01 -1.11469124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.597719421 meters 0.05568629459740259 Centerline is valid? [True, True] Translation: X:106.26, Y:-19.44, Z:-11.15 [[ 9.32566972e-01 3.54801233e-01 6.65952571e-02 1.06261190e+02] [-3.54016768e-01 9.34940489e-01 -2.36307059e-02 -1.94432166e+01] [-7.06468058e-02 -1.53862179e-03 9.97500206e-01 -1.11520577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.627719421 meters 0.056237470379880666 Centerline is valid? [True, True] Translation: X:106.29, Y:-19.45, Z:-11.15 [[ 9.30127996e-01 3.61051384e-01 6.71104205e-02 1.06294257e+02] [-3.60268950e-01 9.32543773e-01 -2.38410490e-02 -1.94454945e+01] [-7.11912484e-02 -2.00257365e-03 9.97460674e-01 -1.11499812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.657719421 meters 0.05693464415632677 Centerline is valid? [True, True] Translation: X:106.33, Y:-19.45, Z:-11.15 [[ 9.29303583e-01 3.63229436e-01 6.67774416e-02 1.06325399e+02] [-3.62460734e-01 9.31697213e-01 -2.37175040e-02 -1.94529244e+01] [-7.08312518e-02 -2.16343904e-03 9.97485966e-01 -1.11526121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.687719421 meters 0.05787033545815069 Centerline is valid? [True, True] Translation: X:106.36, Y:-19.46, Z:-11.16 [[ 9.28090569e-01 3.66125691e-01 6.78223666e-02 1.06357243e+02] [-3.65338447e-01 9.30562323e-01 -2.41160340e-02 -1.94554842e+01] [-7.19424386e-02 -2.39625435e-03 9.97405907e-01 -1.11554521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.717719421 meters 0.06096357329136768 Centerline is valid? [True, True] Translation: X:106.39, Y:-19.46, Z:-11.16 [[ 9.27338451e-01 3.67817640e-01 6.89462181e-02 1.06389843e+02] [-3.67008093e-01 9.29894414e-01 -2.45242316e-02 -1.94558082e+01] [-7.31331481e-02 -2.56155702e-03 9.97318896e-01 -1.11641706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.747719421 meters 0.059525329818492186 Centerline is valid? [True, True] Translation: X:106.42, Y:-19.46, Z:-11.16 [[ 9.26654468e-01 3.69538938e-01 6.89381586e-02 1.06421483e+02] [-3.68732857e-01 9.29211386e-01 -2.45413996e-02 -1.94625209e+01] [-7.31271247e-02 -2.67836660e-03 9.97319031e-01 -1.11629504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.777719421 meters 0.06032159928323785 Centerline is valid? [True, True] Translation: X:106.45, Y:-19.47, Z:-11.17 [[ 9.26466066e-01 3.70317104e-01 6.72745917e-02 1.06451815e+02] [-3.69549719e-01 9.28901621e-01 -2.39746307e-02 -1.94691325e+01] [-7.13696931e-02 -2.64962467e-03 9.97446413e-01 -1.11676034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.807719421 meters 0.06059832310102166 Centerline is valid? [True, True] Translation: X:106.48, Y:-19.48, Z:-11.17 [[ 9.26609881e-01 3.70234330e-01 6.57317947e-02 1.06481797e+02] [-3.69501175e-01 9.28934820e-01 -2.34303765e-02 -1.94793107e+01] [-6.97352826e-02 -2.57715705e-03 9.97562203e-01 -1.11720995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.837719421 meters 0.06039715351362032 Centerline is valid? [True, True] Translation: X:106.51, Y:-19.49, Z:-11.18 [[ 9.26796924e-01 3.69947258e-01 6.47030815e-02 1.06512956e+02] [-3.69234931e-01 9.29049399e-01 -2.30820460e-02 -1.94896222e+01] [-6.86514986e-02 -2.49826854e-03 9.97637575e-01 -1.11776185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86771942099999 meters 0.06117570551250638 Centerline is valid? [True, True] Translation: X:106.54, Y:-19.50, Z:-11.18 [[ 9.26531799e-01 3.70718759e-01 6.40814066e-02 1.06543001e+02] [-3.70020198e-01 9.28741791e-01 -2.28853421e-02 -1.94982675e+01] [-6.79991060e-02 -2.50741753e-03 9.97682231e-01 -1.11827263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89771942099999 meters 0.06164408627027917 Centerline is valid? [True, True] Translation: X:106.57, Y:-19.51, Z:-11.18 [[ 9.25836934e-01 3.72239244e-01 6.52986814e-02 1.06574119e+02] [-3.71516428e-01 9.28133023e-01 -2.33374372e-02 -1.95079055e+01] [-6.92929725e-02 -2.65287160e-03 9.97592826e-01 -1.11839765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92771942099999 meters 0.06216099448414549 Centerline is valid? [True, True] Translation: X:106.60, Y:-19.52, Z:-11.19 [[ 9.25555282e-01 3.72935242e-01 6.53201752e-02 1.06602864e+02] [-3.72211919e-01 9.27853496e-01 -2.33704380e-02 -1.95183525e+01] [-6.93232128e-02 -2.68231542e-03 9.97590646e-01 -1.11868668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.957719421 meters 0.061557782287773075 Centerline is valid? [True, True] Translation: X:106.63, Y:-19.53, Z:-11.19 [[ 9.24798901e-01 3.75018770e-01 6.40930213e-02 1.06631624e+02] [-3.74325749e-01 9.27013101e-01 -2.29552679e-02 -1.95334010e+01] [-6.80237267e-02 -2.76266165e-03 9.97679879e-01 -1.11869537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.987719421 meters 0.06234054154447763 Centerline is valid? [True, True] Translation: X:106.66, Y:-19.54, Z:-11.19 [[ 9.24047214e-01 3.76753420e-01 6.47580637e-02 1.06661301e+02] [-3.76050200e-01 9.26308982e-01 -2.31930517e-02 -1.95425721e+01] [-6.87240376e-02 -2.92080798e-03 9.97631433e-01 -1.11907737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.017719421 meters 0.06472564827475669 Centerline is valid? [True, True] Translation: X:106.69, Y:-19.55, Z:-11.19 [[ 9.22496489e-01 3.80436547e-01 6.53319361e-02 1.06691394e+02] [-3.79728031e-01 9.24801498e-01 -2.34267319e-02 -1.95474365e+01] [-6.93314574e-02 -3.19728955e-03 9.97588556e-01 -1.11948821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.047719421 meters 0.06580623398043087 Centerline is valid? [True, True] Translation: X:106.72, Y:-19.56, Z:-11.20 [[ 9.21189548e-01 3.83566963e-01 6.54690832e-02 1.06720630e+02] [-3.82863314e-01 9.23506661e-01 -2.34761483e-02 -1.95578252e+01] [-6.94658094e-02 -3.43972769e-03 9.97578403e-01 -1.11962952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.077719421 meters 0.06722580179506067 Centerline is valid? [True, True] Translation: X:106.75, Y:-19.57, Z:-11.20 [[ 9.20127105e-01 3.86073957e-01 6.56735057e-02 1.06750590e+02] [-3.85372457e-01 9.22460638e-01 -2.35465638e-02 -1.95671732e+01] [-6.96719390e-02 -3.64292866e-03 9.97563306e-01 -1.11990804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.107719421 meters 0.06935572624859256 Centerline is valid? [True, True] Translation: X:106.78, Y:-19.57, Z:-11.20 [[ 9.19210039e-01 3.88329019e-01 6.52186882e-02 1.06779868e+02] [-3.87640917e-01 9.21513117e-01 -2.34114208e-02 -1.95739870e+01] [-6.91912107e-02 -3.76141909e-03 9.97596325e-01 -1.12026633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.137719421 meters 0.07181692924695673 Centerline is valid? [True, True] Translation: X:106.81, Y:-19.58, Z:-11.21 [[ 9.17533184e-01 3.92451792e-01 6.41439532e-02 1.06810024e+02] [-3.91796218e-01 9.19763857e-01 -2.30254374e-02 -1.95802907e+01] [-6.80336640e-02 -4.00475536e-03 9.97674988e-01 -1.12067131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.167719421 meters 0.07309447435413186 Centerline is valid? [True, True] Translation: X:106.84, Y:-19.59, Z:-11.21 [[ 9.16717383e-01 3.94406203e-01 6.38199519e-02 1.06839823e+02] [-3.93762006e-01 9.18926925e-01 -2.29082641e-02 -1.95886080e+01] [-6.76810337e-02 -4.12946832e-03 9.97698464e-01 -1.12108108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.197719421 meters 0.07485426971064536 Centerline is valid? [True, True] Translation: X:106.87, Y:-19.60, Z:-11.21 [[ 9.15148301e-01 3.97759557e-01 6.55051269e-02 1.06870211e+02] [-3.97089186e-01 9.17478702e-01 -2.35161490e-02 -1.95971783e+01] [-6.94533319e-02 -4.49061368e-03 9.97575094e-01 -1.12129079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.227719421 meters 0.07596913131568923 Centerline is valid? [True, True] Translation: X:106.90, Y:-19.61, Z:-11.22 [[ 9.14741783e-01 3.98731866e-01 6.52715071e-02 1.06899507e+02] [-3.98069097e-01 9.17056252e-01 -2.34270004e-02 -1.96096597e+01] [-6.91987352e-02 -4.55291377e-03 9.97592505e-01 -1.12160131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25771942099999 meters 0.07696200200013568 Centerline is valid? [True, True] Translation: X:106.93, Y:-19.62, Z:-11.22 [[ 9.14850281e-01 3.98733799e-01 6.37206447e-02 1.06927818e+02] [-3.98100850e-01 9.17056031e-01 -2.28899220e-02 -1.96212246e+01] [-6.75623871e-02 -4.42639121e-03 9.97705232e-01 -1.12217470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28771942099999 meters 0.07322634169526306 Centerline is valid? [True, True] Translation: X:106.95, Y:-19.64, Z:-11.23 [[ 9.16076066e-01 3.96502343e-01 5.99210566e-02 1.06953473e+02] [-3.95937008e-01 9.18025024e-01 -2.15392721e-02 -1.96440596e+01] [-6.35494013e-02 -3.99335227e-03 9.97970704e-01 -1.12269074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31771942099999 meters 0.07214095338238935 Centerline is valid? [True, True] Translation: X:106.98, Y:-19.66, Z:-11.23 [[ 9.17029298e-01 3.94440114e-01 5.89428901e-02 1.06981575e+02] [-3.93887209e-01 9.18913944e-01 -2.12139239e-02 -1.96582806e+01] [-6.25310662e-02 -3.76306072e-03 9.98035924e-01 -1.12322265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.347719421 meters 0.06932228911808583 Centerline is valid? [True, True] Translation: X:107.01, Y:-19.68, Z:-11.24 [[ 9.19225438e-01 3.89326645e-01 5.87312348e-02 1.07005928e+02] [-3.88766711e-01 9.21093505e-01 -2.11470836e-02 -1.96772181e+01] [-6.23300821e-02 -3.39381180e-03 9.98049820e-01 -1.12362137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.377719421 meters 0.06958076894506136 Centerline is valid? [True, True] Translation: X:107.03, Y:-19.69, Z:-11.24 [[ 9.20574423e-01 3.86059657e-01 5.91664953e-02 1.07032396e+02] [-3.85484700e-01 9.22468277e-01 -2.13031251e-02 -1.96897744e+01] [-6.28034922e-02 -3.19666663e-03 9.98020793e-01 -1.12411333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.407719421 meters 0.06363593127998193 Centerline is valid? [True, True] Translation: X:107.06, Y:-19.72, Z:-11.24 [[ 9.23654316e-01 3.78543163e-01 5.97308854e-02 1.07055588e+02] [-3.77941632e-01 9.25579664e-01 -2.15036881e-02 -1.97174427e+01] [-6.34257669e-02 -2.71281398e-03 9.97982872e-01 -1.12399294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.437719421 meters 0.06092658884018341 Centerline is valid? [True, True] Translation: X:107.08, Y:-19.74, Z:-11.24 [[ 9.25509377e-01 3.73959960e-01 5.98860720e-02 1.07082103e+02] [-3.73345675e-01 9.27441733e-01 -2.15601207e-02 -1.97352277e+01] [-6.36034642e-02 -2.40411210e-03 9.97972354e-01 -1.12420846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.467719421 meters 0.05842835008053448 Centerline is valid? [True, True] Translation: X:107.11, Y:-19.75, Z:-11.25 [[ 9.28384523e-01 3.66649490e-01 6.05832386e-02 1.07106986e+02] [-3.66005074e-01 9.30357166e-01 -2.18135310e-02 -1.97532756e+01] [-6.43619701e-02 -1.92242818e-03 9.97924767e-01 -1.12469017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.497719421 meters 0.05490475975771983 Centerline is valid? [True, True] Translation: X:107.13, Y:-19.78, Z:-11.25 [[ 9.31836514e-01 3.57574906e-01 6.18134089e-02 1.07132202e+02] [-3.56884112e-01 9.33883525e-01 -2.22551659e-02 -1.97758092e+01] [-6.56844130e-02 -1.32204729e-03 9.97839571e-01 -1.12469254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.527719421 meters 0.053638327461133006 Centerline is valid? [True, True] Translation: X:107.16, Y:-19.79, Z:-11.25 [[ 9.33900275e-01 3.52105296e-01 6.20655805e-02 1.07158528e+02] [-3.51396701e-01 9.35959923e-01 -2.23468475e-02 -1.97924790e+01] [-6.59593393e-02 -9.39913210e-04 9.97821869e-01 -1.12497375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.557719421 meters 0.05179965014033168 Centerline is valid? [True, True] Translation: X:107.18, Y:-19.82, Z:-11.25 [[ 9.38395216e-01 3.39784504e-01 6.29357570e-02 1.07183454e+02] [-3.39028032e-01 9.40503315e-01 -2.26607094e-02 -1.98168712e+01] [-6.68910460e-02 -7.22845500e-05 9.97760283e-01 -1.12466196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.587719421 meters 0.05207549949887816 Centerline is valid? [True, True] Translation: X:107.21, Y:-19.83, Z:-11.25 [[ 9.40414555e-01 3.34050399e-01 6.34885415e-02 1.07212622e+02] [-3.33268011e-01 9.42555155e-01 -2.28519606e-02 -1.98332122e+01] [-6.74751586e-02 3.31616483e-04 9.97720899e-01 -1.12491200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61771942099999 meters 0.05328585582952429 Centerline is valid? [True, True] Translation: X:107.24, Y:-19.85, Z:-11.25 [[ 9.43427139e-01 3.25024276e-01 6.56083348e-02 1.07241253e+02] [-3.24164929e-01 9.45705105e-01 -2.36422072e-02 -1.98499164e+01] [-6.97304284e-02 1.03677867e-03 9.97565332e-01 -1.12493301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64771942099999 meters 0.05484549363184031 Centerline is valid? [True, True] Translation: X:107.27, Y:-19.86, Z:-11.25 [[ 9.44727406e-01 3.21056234e-01 6.64305931e-02 1.07268822e+02] [-3.20163719e-01 9.47059143e-01 -2.39618842e-02 -1.98644675e+01] [-7.06068129e-02 1.36878299e-03 9.97503285e-01 -1.12535535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67771942099999 meters 0.056073136405555606 Centerline is valid? [True, True] Translation: X:107.30, Y:-19.88, Z:-11.25 [[ 9.46805318e-01 3.15245114e-01 6.46545314e-02 1.07297794e+02] [-3.14384244e-01 9.49008612e-01 -2.33495467e-02 -1.98760415e+01] [-6.87185376e-02 1.78110901e-03 9.97634497e-01 -1.12543123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.707719421 meters 0.05787839890097909 Centerline is valid? [True, True] Translation: X:107.33, Y:-19.89, Z:-11.26 [[ 9.47683690e-01 3.12613994e-01 6.45609365e-02 1.07325860e+02] [-3.11749465e-01 9.49878208e-01 -2.33165390e-02 -1.98872403e+01] [-6.86141031e-02 1.96986633e-03 9.97641331e-01 -1.12606081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.737719421 meters 0.05787839890097909 Centerline is valid? [True, True] Translation: X:107.36, Y:-19.90, Z:-11.26 [[ 9.47579688e-01 3.12928617e-01 6.45632649e-02 1.07356126e+02] [-3.12065254e-01 9.49774666e-01 -2.33100988e-02 -1.98984620e+01] [-6.86149504e-02 1.94022446e-03 9.97641330e-01 -1.12639321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.767719421 meters 0.05842166999148735 Centerline is valid? [True, True] Translation: X:107.39, Y:-19.90, Z:-11.27 [[ 9.48658917e-01 3.09843220e-01 6.35880344e-02 1.07388783e+02] [-3.08996642e-01 9.50785205e-01 -2.29906459e-02 -1.99024349e+01] [-6.75820581e-02 2.16179218e-03 9.97711377e-01 -1.12683335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.797719421 meters 0.06024338880236199 Centerline is valid? [True, True] Translation: X:107.42, Y:-19.91, Z:-11.27 [[ 9.49438000e-01 3.07562313e-01 6.30310137e-02 1.07418169e+02] [-3.06725581e-01 9.51525155e-01 -2.27880867e-02 -1.99120110e+01] [-6.69843517e-02 2.30265124e-03 9.97751369e-01 -1.12736321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.827719421 meters 0.06205636872079871 Centerline is valid? [True, True] Translation: X:107.45, Y:-19.92, Z:-11.27 [[ 9.51304504e-01 3.01467378e-01 6.43207707e-02 1.07447974e+02] [-3.00580017e-01 9.53472330e-01 -2.32845328e-02 -1.99207895e+01] [-6.83476021e-02 2.81714258e-03 9.97657591e-01 -1.12727647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.857719421 meters 0.061977387752642034 Centerline is valid? [True, True] Translation: X:107.48, Y:-19.93, Z:-11.27 [[ 9.52144832e-01 2.98342136e-01 6.64243098e-02 1.07479629e+02] [-2.97388689e-01 9.54453849e-01 -2.40378272e-02 -1.99287841e+01] [-7.05704349e-02 3.13365447e-03 9.97501877e-01 -1.12719113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.887719421 meters 0.06568459356675024 Centerline is valid? [True, True] Translation: X:107.51, Y:-19.94, Z:-11.27 [[ 9.53838997e-01 2.92264010e-01 6.90862930e-02 1.07509021e+02] [-2.91213948e-01 9.56330275e-01 -2.50368196e-02 -1.99352087e+01] [-7.33866748e-02 3.76220283e-03 9.97296466e-01 -1.12742212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.917719421 meters 0.069969794456521 Centerline is valid? [True, True] Translation: X:107.54, Y:-19.95, Z:-11.28 [[ 9.54744360e-01 2.89427821e-01 6.85181931e-02 1.07537017e+02] [-2.88387757e-01 9.57191705e-01 -2.48302568e-02 -1.99453152e+01] [-7.27716132e-02 3.94673962e-03 9.97340822e-01 -1.12809708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.947719421 meters 0.07201917477259934 Centerline is valid? [True, True] Translation: X:107.57, Y:-19.95, Z:-11.29 [[ 9.56486282e-01 2.83638184e-01 6.84351713e-02 1.07570072e+02] [-2.82585755e-01 9.58921354e-01 -2.48017708e-02 -1.99454303e+01] [-7.26586763e-02 4.38374899e-03 9.97347231e-01 -1.12852069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.977719421 meters 0.07109410930721913 Centerline is valid? [True, True] Translation: X:107.60, Y:-19.95, Z:-11.29 [[ 9.57212593e-01 2.81197490e-01 6.83521960e-02 1.07602378e+02] [-2.80141333e-01 9.59639065e-01 -2.47729325e-02 -1.99485868e+01] [-7.25595239e-02 4.56468759e-03 9.97353638e-01 -1.12870444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00771942099999 meters 0.07422417658232883 Centerline is valid? [True, True] Translation: X:107.63, Y:-19.95, Z:-11.29 [[ 9.58305129e-01 2.77430029e-01 6.84387195e-02 1.07633476e+02] [-2.76361269e-01 9.60733548e-01 -2.48092572e-02 -1.99494130e+01] [-7.26342068e-02 4.86102701e-03 9.97346801e-01 -1.12911832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03771942099999 meters 0.07446731014728389 Centerline is valid? [True, True] Translation: X:107.67, Y:-19.95, Z:-11.29 [[ 9.58218089e-01 2.77509346e-01 6.93300609e-02 1.07666978e+02] [-2.76413523e-01 9.60710400e-01 -2.51215267e-02 -1.99531316e+01] [-7.35775690e-02 4.90813489e-03 9.97277420e-01 -1.12944986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06771942099999 meters 0.08403794729247484 Centerline is valid? [True, True] Translation: X:107.70, Y:-19.96, Z:-11.31 [[ 9.57929608e-01 2.78752035e-01 6.83239962e-02 1.07696525e+02] [-2.77688854e-01 9.60351261e-01 -2.47862245e-02 -1.99590540e+01] [-7.25242465e-02 4.77064618e-03 9.97355240e-01 -1.13059664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.097719421 meters 0.07364730484908268 Centerline is valid? [True, True] Translation: X:107.74, Y:-19.95, Z:-11.30 [[ 9.57525592e-01 2.80575714e-01 6.64981890e-02 1.07735381e+02] [-2.79571656e-01 9.59821220e-01 -2.41436379e-02 -1.99468281e+01] [-7.06004913e-02 4.52714232e-03 9.97494399e-01 -1.13049990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.127719421 meters 0.07347302027805332 Centerline is valid? [True, True] Translation: X:107.77, Y:-19.94, Z:-11.31 [[ 9.57007276e-01 2.82711421e-01 6.48947273e-02 1.07769482e+02] [-2.81758573e-01 9.59195436e-01 -2.35843531e-02 -1.99430232e+01] [-6.89142922e-02 4.28575174e-03 9.97613378e-01 -1.13113292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.157719421 meters 0.07288130319927834 Centerline is valid? [True, True] Translation: X:107.80, Y:-19.95, Z:-11.31 [[ 9.56537807e-01 2.84133882e-01 6.56000113e-02 1.07802216e+02] [-2.83162043e-01 9.58775199e-01 -2.38615757e-02 -1.99472927e+01] [-6.96755460e-02 4.24906604e-03 9.97560657e-01 -1.13141903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.187719421 meters 0.06984628037902403 Centerline is valid? [True, True] Translation: X:107.84, Y:-19.94, Z:-11.31 [[ 9.55543793e-01 2.87254516e-01 6.64898638e-02 1.07837827e+02] [-2.86261289e-01 9.57845483e-01 -2.42178736e-02 -1.99403982e+01] [-7.06437092e-02 4.10776475e-03 9.97493154e-01 -1.13139518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.217719421 meters 0.0701442456025952 Centerline is valid? [True, True] Translation: X:107.87, Y:-19.94, Z:-11.32 [[ 9.54604055e-01 2.90219937e-01 6.71080202e-02 1.07868621e+02] [-2.89215338e-01 9.56951920e-01 -2.44440411e-02 -1.99444257e+01] [-7.13132968e-02 3.92571199e-03 9.97446240e-01 -1.13185974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.247719421 meters 0.06414308550963138 Centerline is valid? [True, True] Translation: X:107.91, Y:-19.93, Z:-11.32 [[ 9.52359678e-01 2.97511195e-01 6.70681188e-02 1.07906021e+02] [-2.96525431e-01 9.54712337e-01 -2.44340364e-02 -1.99321025e+01] [-7.13001598e-02 3.38258822e-03 9.97449169e-01 -1.13198422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.277719421 meters 0.0606800834675685 Centerline is valid? [True, True] Translation: X:107.94, Y:-19.93, Z:-11.32 [[ 9.50908824e-01 3.01985920e-01 6.76528856e-02 1.07939600e+02] [-3.00994177e-01 9.53307431e-01 -2.46464302e-02 -1.99311052e+01] [-7.19368735e-02 3.07338332e-03 9.97404452e-01 -1.13211352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.307719421 meters 0.05820308392657325 Centerline is valid? [True, True] Translation: X:107.97, Y:-19.92, Z:-11.33 [[ 9.48607950e-01 3.09466394e-01 6.61325018e-02 1.07973422e+02] [-3.08536703e-01 9.50907218e-01 -2.40949435e-02 -1.99245941e+01] [-7.03424486e-02 2.45235090e-03 9.97519887e-01 -1.13254121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.337719421 meters 0.05697172417736191 Centerline is valid? [True, True] Translation: X:108.01, Y:-19.93, Z:-11.33 [[ 9.47360791e-01 3.13366019e-01 6.56450336e-02 1.08005836e+02] [-3.12459436e-01 9.49629999e-01 -2.39157991e-02 -1.99263648e+01] [-6.98328920e-02 2.14548019e-03 9.97556396e-01 -1.13290302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36771942099999 meters 0.05400217108000342 Centerline is valid? [True, True] Translation: X:108.04, Y:-19.92, Z:-11.33 [[ 9.44199958e-01 3.22408731e-01 6.73724642e-02 1.08039713e+02] [-3.21476161e-01 9.46599329e-01 -2.45517290e-02 -1.99177550e+01] [-7.16904213e-02 1.52310034e-03 9.97425769e-01 -1.13305573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39771942099999 meters 0.05293511038645887 Centerline is valid? [True, True] Translation: X:108.07, Y:-19.92, Z:-11.33 [[ 9.42850809e-01 3.26393385e-01 6.70798777e-02 1.08069506e+02] [-3.25479142e-01 9.45233245e-01 -2.44426005e-02 -1.99193764e+01] [-7.13840337e-02 1.21262466e-03 9.97448169e-01 -1.13328431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42771942099999 meters 0.05195754389881645 Centerline is valid? [True, True] Translation: X:108.10, Y:-19.91, Z:-11.34 [[ 9.40824124e-01 3.32083562e-01 6.76052998e-02 1.08101295e+02] [-3.31170047e-01 9.43249648e-01 -2.46272646e-02 -1.99144282e+01] [-7.19469849e-02 7.81074326e-04 9.97408152e-01 -1.13364473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.457719421 meters 0.051795124478887795 Centerline is valid? [True, True] Translation: X:108.13, Y:-19.92, Z:-11.34 [[ 9.40192057e-01 3.33888084e-01 6.75103163e-02 1.08130608e+02] [-3.32982252e-01 9.42612510e-01 -2.45861089e-02 -1.99167388e+01] [-7.18450775e-02 6.35927181e-04 9.97415601e-01 -1.13398168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.487719421 meters 0.05214884718427681 Centerline is valid? [True, True] Translation: X:108.16, Y:-19.92, Z:-11.35 [[ 9.39387242e-01 3.36716543e-01 6.46032436e-02 1.08161407e+02] [-3.35894216e-01 9.41605975e-01 -2.35215444e-02 -1.99150764e+01] [-6.87508933e-02 3.95982846e-04 9.97633779e-01 -1.13461321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.517719421 meters 0.0520986133528082 Centerline is valid? [True, True] Translation: X:108.19, Y:-19.92, Z:-11.35 [[ 9.38770095e-01 3.38724794e-01 6.30572954e-02 1.08191403e+02] [-3.37946311e-01 9.40885465e-01 -2.29528436e-02 -1.99162515e+01] [-6.71043899e-02 2.37462774e-04 9.97745932e-01 -1.13493929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.547719421 meters 0.05241078419106063 Centerline is valid? [True, True] Translation: X:108.22, Y:-19.92, Z:-11.35 [[ 9.38385887e-01 3.39633613e-01 6.38822054e-02 1.08217990e+02] [-3.38837093e-01 9.40557803e-01 -2.32474552e-02 -1.99228515e+01] [-6.79805239e-02 1.69423123e-04 9.97686634e-01 -1.13547174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.577719421 meters 0.05176702055872389 Centerline is valid? [True, True] Translation: X:108.25, Y:-19.93, Z:-11.35 [[ 9.38431317e-01 3.39127147e-01 6.58744418e-02 1.08246069e+02] [-3.38279503e-01 9.40740526e-01 -2.39633283e-02 -1.99302778e+01] [-7.00973721e-02 2.03964268e-04 9.97540133e-01 -1.13519542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.607719421 meters 0.05185680849802908 Centerline is valid? [True, True] Translation: X:108.27, Y:-19.94, Z:-11.36 [[ 9.38971521e-01 3.37605324e-01 6.59933976e-02 1.08272030e+02] [-3.36751220e-01 9.41287707e-01 -2.40014282e-02 -1.99399700e+01] [-7.02217838e-02 3.13300382e-04 9.97531354e-01 -1.13550199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.637719421 meters 0.052077326262555027 Centerline is valid? [True, True] Translation: X:108.30, Y:-19.95, Z:-11.36 [[ 9.39531046e-01 3.36028252e-01 6.60789516e-02 1.08297356e+02] [-3.35168783e-01 9.41851812e-01 -2.40218792e-02 -1.99501740e+01] [-7.03086104e-02 4.21699475e-04 9.97525198e-01 -1.13585559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.667719421 meters 0.05278317844021391 Centerline is valid? [True, True] Translation: X:108.32, Y:-19.96, Z:-11.36 [[ 9.41615939e-01 3.30403586e-01 6.47525533e-02 1.08322726e+02] [-3.29565593e-01 9.43839394e-01 -2.35311978e-02 -1.99642767e+01] [-6.88908029e-02 8.17137265e-04 9.97623872e-01 -1.13612225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.697719421 meters 0.054659788313423725 Centerline is valid? [True, True] Translation: X:108.35, Y:-19.98, Z:-11.37 [[ 9.44228563e-01 3.22964433e-01 6.42370228e-02 1.08346862e+02] [-3.22123002e-01 9.46410150e-01 -2.33366669e-02 -1.99828560e+01] [-6.83314838e-02 1.34292479e-03 9.97661769e-01 -1.13660204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.727719421 meters 0.05574714075834017 Centerline is valid? [True, True] Translation: X:108.37, Y:-20.00, Z:-11.37 [[ 9.45705468e-01 3.18932038e-01 6.26380347e-02 1.08372677e+02] [-3.18123481e-01 9.47776255e-01 -2.27513003e-02 -1.99969997e+01] [-6.66229605e-02 1.58939944e-03 9.97776957e-01 -1.13689712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75771942099999 meters 0.057896410838555665 Centerline is valid? [True, True] Translation: X:108.40, Y:-20.01, Z:-11.37 [[ 9.48027759e-01 3.12180759e-01 6.15348903e-02 1.08399226e+02] [-3.11386710e-01 9.50020573e-01 -2.23434060e-02 -2.00125942e+01] [-6.54345932e-02 2.02102210e-03 9.97854814e-01 -1.13721629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78771942099999 meters 0.05974516030142982 Centerline is valid? [True, True] Translation: X:108.42, Y:-20.03, Z:-11.38 [[ 9.48851966e-01 3.09510000e-01 6.23177874e-02 1.08424897e+02] [-3.08689672e-01 9.50893559e-01 -2.26301984e-02 -2.00251774e+01] [-6.62618554e-02 2.23585091e-03 9.97799763e-01 -1.13763807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81771942099999 meters 0.06028283201657379 Centerline is valid? [True, True] Translation: X:108.45, Y:-20.04, Z:-11.38 [[ 9.49669861e-01 3.06622522e-01 6.41075932e-02 1.08451921e+02] [-3.05748049e-01 9.51827905e-01 -2.32759540e-02 -2.00354923e+01] [-6.81563279e-02 2.50370045e-03 9.97671512e-01 -1.13760725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.847719421 meters 0.05988580996376462 Centerline is valid? [True, True] Translation: X:108.48, Y:-20.04, Z:-11.38 [[ 9.49193223e-01 3.08165594e-01 6.37667009e-02 1.08480467e+02] [-3.07304308e-01 9.51329769e-01 -2.31458984e-02 -2.00414675e+01] [-6.77959304e-02 2.37414801e-03 9.97696384e-01 -1.13789775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.877719421 meters 0.05943692766809803 Centerline is valid? [True, True] Translation: X:108.51, Y:-20.05, Z:-11.38 [[ 9.48266704e-01 3.11180096e-01 6.29063283e-02 1.08507915e+02] [-3.10348887e-01 9.50348586e-01 -2.28283523e-02 -2.00458277e+01] [-6.68866690e-02 2.12445745e-03 9.97758318e-01 -1.13845697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.907719421 meters 0.05543827140787242 Centerline is valid? [True, True] Translation: X:108.54, Y:-20.04, Z:-11.39 [[ 9.44824753e-01 3.21732886e-01 6.15965645e-02 1.08542585e+02] [-3.20958907e-01 9.46829527e-01 -2.23433883e-02 -2.00370586e+01] [-6.55100488e-02 1.34062026e-03 9.97851009e-01 -1.13865312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.937719421 meters 0.053864883921369344 Centerline is valid? [True, True] Translation: X:108.57, Y:-20.04, Z:-11.39 [[ 9.42406567e-01 3.28308631e-01 6.39007526e-02 1.08573044e+02] [-3.27490871e-01 9.44570065e-01 -2.31759041e-02 -2.00381781e+01] [-6.79675873e-02 9.14211074e-04 9.97687111e-01 -1.13878968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.967719421 meters 0.051968453948794895 Centerline is valid? [True, True] Translation: X:108.61, Y:-20.03, Z:-11.39 [[ 9.38218827e-01 3.39570381e-01 6.66137254e-02 1.08606825e+02] [-3.38710082e-01 9.40580643e-01 -2.41564515e-02 -2.00333721e+01] [-7.08583961e-02 1.01297236e-04 9.97486380e-01 -1.13856227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.997719421 meters 0.05221229475851745 Centerline is valid? [True, True] Translation: X:108.64, Y:-20.04, Z:-11.39 [[ 9.36262366e-01 3.44957292e-01 6.64623767e-02 1.08635237e+02] [-3.44114507e-01 9.38618332e-01 -2.41004805e-02 -2.00365063e+01] [-7.06964417e-02 -3.06295138e-04 9.97497829e-01 -1.13902282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.027719421 meters 0.05399210781140417 Centerline is valid? [True, True] Translation: X:108.67, Y:-20.03, Z:-11.40 [[ 9.32712365e-01 3.54562716e-01 6.58249505e-02 1.08665700e+02] [-3.53760449e-01 9.35031666e-01 -2.38605900e-02 -2.00333653e+01] [-7.00084888e-02 -1.03119670e-03 9.97545863e-01 -1.13971166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.057719421 meters 0.05455094346350452 Centerline is valid? [True, True] Translation: X:108.69, Y:-20.04, Z:-11.40 [[ 9.31498053e-01 3.57695586e-01 6.60700031e-02 1.08694438e+02] [-3.56895119e-01 9.33837381e-01 -2.39503673e-02 -2.00386263e+01] [-7.02655793e-02 -1.27034110e-03 9.97527511e-01 -1.13982794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.087719421 meters 0.05654265724620781 Centerline is valid? [True, True] Translation: X:108.72, Y:-20.04, Z:-11.40 [[ 9.29521367e-01 3.63098868e-01 6.44145996e-02 1.08722937e+02] [-3.62352931e-01 9.31749133e-01 -2.33218008e-02 -2.00430011e+01] [-6.84863668e-02 -1.66270684e-03 9.97650667e-01 -1.14034654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11771942099999 meters 0.0572950491679813 Centerline is valid? [True, True] Translation: X:108.75, Y:-20.05, Z:-11.41 [[ 9.29044454e-01 3.64557077e-01 6.30439455e-02 1.08749637e+02] [-3.63845842e-01 9.31179435e-01 -2.28267980e-02 -2.00529877e+01] [-6.70268964e-02 -1.73116735e-03 9.97749667e-01 -1.14075234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14771942099999 meters 0.05741924571362979 Centerline is valid? [True, True] Translation: X:108.78, Y:-20.07, Z:-11.41 [[ 9.28468759e-01 3.66100530e-01 6.25792758e-02 1.08775267e+02] [-3.65404606e-01 9.30573472e-01 -2.26381730e-02 -2.00665837e+01] [-6.65224611e-02 -1.84791919e-03 9.97783217e-01 -1.14099312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17771942099999 meters 0.057393586359908315 Centerline is valid? [True, True] Translation: X:108.80, Y:-20.08, Z:-11.41 [[ 9.28917726e-01 3.65004568e-01 6.23179314e-02 1.08800819e+02] [-3.64313295e-01 9.31004026e-01 -2.25239323e-02 -2.00774285e+01] [-6.62395832e-02 -1.78037088e-03 9.97802159e-01 -1.14137177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.207719421 meters 0.05658834938604547 Centerline is valid? [True, True] Translation: X:108.83, Y:-20.09, Z:-11.42 [[ 9.30192592e-01 3.61937914e-01 6.11775238e-02 1.08825913e+02] [-3.61266730e-01 9.32200903e-01 -2.20867746e-02 -2.00930782e+01] [-6.50237841e-02 -1.55644988e-03 9.97882501e-01 -1.14174189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.237719421 meters 0.05533696849386685 Centerline is valid? [True, True] Translation: X:108.85, Y:-20.11, Z:-11.42 [[ 9.32550686e-01 3.56063302e-01 5.97339339e-02 1.08847364e+02] [-3.55413144e-01 9.34461136e-01 -2.15379463e-02 -2.01133263e+01] [-6.34879120e-02 -1.14499861e-03 9.97981951e-01 -1.14227806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.267719421 meters 0.05540681191570446 Centerline is valid? [True, True] Translation: X:108.87, Y:-20.13, Z:-11.43 [[ 9.33938825e-01 3.52533218e-01 5.89796714e-02 1.08871161e+02] [-3.51892789e-01 9.35798867e-01 -2.12589971e-02 -2.01274960e+01] [-6.26876124e-02 -8.99918284e-04 9.98032792e-01 -1.14304646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.297719421 meters 0.053789226871230826 Centerline is valid? [True, True] Translation: X:108.90, Y:-20.15, Z:-11.43 [[ 9.35153968e-01 3.49183775e-01 5.96468543e-02 1.08896119e+02] [-3.48521889e-01 9.37054015e-01 -2.15003908e-02 -2.01453225e+01] [-6.33999119e-02 -6.82058550e-04 9.97987969e-01 -1.14283861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.327719421 meters 0.0528577439136835 Centerline is valid? [True, True] Translation: X:108.92, Y:-20.17, Z:-11.43 [[ 9.37835366e-01 3.41489615e-01 6.20457006e-02 1.08917292e+02] [-3.40758600e-01 9.39885527e-01 -2.23332190e-02 -2.01699415e+01] [-6.59424184e-02 -1.97723465e-04 9.97823410e-01 -1.14310095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.357719421 meters 0.0524559534756472 Centerline is valid? [True, True] Translation: X:108.94, Y:-20.19, Z:-11.43 [[ 9.40769032e-01 3.33136031e-01 6.30397776e-02 1.08939978e+02] [-3.32362843e-01 9.42878694e-01 -2.26871953e-02 -2.01930663e+01] [-6.69967853e-02 3.91331059e-04 9.97753115e-01 -1.14306237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.387719421 meters 0.05303003449621711 Centerline is valid? [True, True] Translation: X:108.96, Y:-20.21, Z:-11.44 [[ 9.41785566e-01 3.30394592e-01 6.22845105e-02 1.08964731e+02] [-3.29634194e-01 9.43842722e-01 -2.24101574e-02 -2.02068965e+01] [-6.61909767e-02 5.74458371e-04 9.97806807e-01 -1.14357492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.417719421 meters 0.05464545384635168 Centerline is valid? [True, True] Translation: X:108.99, Y:-20.23, Z:-11.44 [[ 9.43852212e-01 3.25089753e-01 5.88188235e-02 1.08988681e+02] [-3.24402035e-01 9.45682754e-01 -2.11529958e-02 -2.02264956e+01] [-6.25005692e-02 8.84355838e-04 9.98044536e-01 -1.14429475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.447719421 meters 0.054603549430626466 Centerline is valid? [True, True] Translation: X:109.01, Y:-20.24, Z:-11.44 [[ 9.44505967e-01 3.23131440e-01 5.91147281e-02 1.09014008e+02] [-3.22432797e-01 9.46353543e-01 -2.12617614e-02 -2.02400061e+01] [-6.28137760e-02 1.02133339e-03 9.98024742e-01 -1.14439290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.477719421 meters 0.05494566181680987 Centerline is valid? [True, True] Translation: X:109.04, Y:-20.26, Z:-11.44 [[ 9.45587468e-01 3.19423888e-01 6.19089649e-02 1.09038947e+02] [-3.18650226e-01 9.47611017e-01 -2.22574419e-02 -2.02568021e+01] [-6.57751758e-02 1.31905244e-03 9.97833597e-01 -1.14435145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50771942099999 meters 0.05790647767775329 Centerline is valid? [True, True] Translation: X:109.06, Y:-20.27, Z:-11.45 [[ 9.47003503e-01 3.15055914e-01 6.26429363e-02 1.09062332e+02] [-3.14254708e-01 9.49071703e-01 -2.25140002e-02 -2.02741127e+01] [-6.65458072e-02 1.63499937e-03 9.97782031e-01 -1.14509105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53771942099999 meters 0.05953301706836472 Centerline is valid? [True, True] Translation: X:109.09, Y:-20.29, Z:-11.45 [[ 9.47760742e-01 3.12660693e-01 6.31891386e-02 1.09087617e+02] [-3.11840357e-01 9.49863145e-01 -2.27067766e-02 -2.02866191e+01] [-6.71205505e-02 1.81566793e-03 9.97743221e-01 -1.14545274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56771942099999 meters 0.05703103969654721 Centerline is valid? [True, True] Translation: X:109.12, Y:-20.29, Z:-11.45 [[ 9.48386602e-01 3.10189437e-01 6.59193932e-02 1.09118875e+02] [-3.09291409e-01 9.50672522e-01 -2.36765933e-02 -2.02938030e+01] [-7.00119849e-02 2.06626188e-03 9.97544010e-01 -1.14456708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.597719421 meters 0.060436377030471465 Centerline is valid? [True, True] Translation: X:109.15, Y:-20.31, Z:-11.45 [[ 9.48298372e-01 3.10146013e-01 6.73769084e-02 1.09145141e+02] [-3.09208337e-01 9.50686601e-01 -2.41907273e-02 -2.03104502e+01] [-7.15569817e-02 2.10652556e-03 9.97434289e-01 -1.14549499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.627719421 meters 0.060436377030471465 Centerline is valid? [True, True] Translation: X:109.17, Y:-20.32, Z:-11.46 [[ 9.48321662e-01 3.10077123e-01 6.73661896e-02 1.09171734e+02] [-3.09137158e-01 9.50708990e-01 -2.42205436e-02 -2.03198750e+01] [-7.15558786e-02 2.14347374e-03 9.97434289e-01 -1.14578566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.657719421 meters 0.0570300936550824 Centerline is valid? [True, True] Translation: X:109.20, Y:-20.32, Z:-11.45 [[ 9.48079541e-01 3.10892754e-01 6.70140249e-02 1.09202807e+02] [-3.09965122e-01 9.50442757e-01 -2.40871250e-02 -2.03224584e+01] [-7.11815072e-02 2.06450000e-03 9.97461243e-01 -1.14547260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.687719421 meters 0.05632287372818273 Centerline is valid? [True, True] Translation: X:109.23, Y:-20.33, Z:-11.46 [[ 9.47229380e-01 3.13452264e-01 6.71131832e-02 1.09231161e+02] [-3.12528434e-01 9.49602111e-01 -2.41206906e-02 -2.03281214e+01] [-7.12915056e-02 1.87304878e-03 9.97453765e-01 -1.14581434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.717719421 meters 0.05482997533673127 Centerline is valid? [True, True] Translation: X:109.26, Y:-20.33, Z:-11.46 [[ 9.46138607e-01 3.16681346e-01 6.73398938e-02 1.09260610e+02] [-3.15759838e-01 9.48530584e-01 -2.41961880e-02 -2.03319327e+01] [-7.15364302e-02 1.62971367e-03 9.97436656e-01 -1.14600235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.747719421 meters 0.05321420915938171 Centerline is valid? [True, True] Translation: X:109.29, Y:-20.33, Z:-11.47 [[ 9.43590249e-01 3.24383915e-01 6.64267872e-02 1.09291681e+02] [-3.23506675e-01 9.45924956e-01 -2.38623024e-02 -2.03259654e+01] [-7.05753028e-02 1.02672684e-03 9.97505926e-01 -1.14654793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.777719421 meters 0.05253195721903682 Centerline is valid? [True, True] Translation: X:109.32, Y:-20.32, Z:-11.47 [[ 9.40854461e-01 3.33013011e-01 6.24116739e-02 1.09323675e+02] [-3.32258158e-01 9.42922167e-01 -2.24121480e-02 -2.03206651e+01] [-6.63128876e-02 3.49781699e-04 9.97798817e-01 -1.14719020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.807719421 meters 0.052649689883808276 Centerline is valid? [True, True] Translation: X:109.35, Y:-20.32, Z:-11.48 [[ 9.39283924e-01 3.37708273e-01 6.08180253e-02 1.09351294e+02] [-3.37001655e-01 9.41250829e-01 -2.18348920e-02 -2.03239669e+01] [-6.46188404e-02 1.33879087e-05 9.97910019e-01 -1.14775587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.837719421 meters 0.05368222897304222 Centerline is valid? [True, True] Translation: X:109.38, Y:-20.33, Z:-11.48 [[ 9.37033412e-01 3.44411906e-01 5.78690296e-02 1.09380588e+02] [-3.43785481e-01 9.38818539e-01 -2.07675963e-02 -2.03250311e+01] [-6.14811253e-02 -4.34600579e-04 9.98108152e-01 -1.14844263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86771942099999 meters 0.053704943290857426 Centerline is valid? [True, True] Translation: X:109.41, Y:-20.33, Z:-11.49 [[ 9.36230478e-01 3.46575003e-01 5.79504977e-02 1.09407756e+02] [-3.45951091e-01 9.38022085e-01 -2.07945011e-02 -2.03331237e+01] [-6.15657010e-02 -5.79592175e-04 9.98102865e-01 -1.14859706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89771942099999 meters 0.053632010580191354 Centerline is valid? [True, True] Translation: X:109.44, Y:-20.34, Z:-11.49 [[ 9.35547607e-01 3.47976752e-01 6.05215278e-02 1.09435591e+02] [-3.47299135e-01 9.37502900e-01 -2.17168795e-02 -2.03415779e+01] [-6.42960770e-02 -7.01899582e-04 9.97930620e-01 -1.14871929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92771942099999 meters 0.053165589118973004 Centerline is valid? [True, True] Translation: X:109.46, Y:-20.35, Z:-11.49 [[ 9.35387360e-01 3.48266753e-01 6.13250059e-02 1.09463136e+02] [-3.47572989e-01 9.37395170e-01 -2.19843775e-02 -2.03503556e+01] [-6.51421921e-02 -7.51006719e-04 9.97875709e-01 -1.14868878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.957719421 meters 0.05384344941620643 Centerline is valid? [True, True] Translation: X:109.49, Y:-20.36, Z:-11.49 [[ 9.34821518e-01 3.49786850e-01 6.13016176e-02 1.09489944e+02] [-3.49098813e-01 9.36828894e-01 -2.19463292e-02 -2.03559026e+01] [-6.51056640e-02 -8.84421154e-04 9.97877984e-01 -1.14920339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.987719421 meters 0.0536547443746121 Centerline is valid? [True, True] Translation: X:109.52, Y:-20.37, Z:-11.49 [[ 9.34876737e-01 3.49565246e-01 6.17221564e-02 1.09516735e+02] [-3.48867237e-01 9.36911615e-01 -2.20970077e-02 -2.03666980e+01] [-6.55525511e-02 -8.74859693e-04 9.97848735e-01 -1.14934734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.017719421 meters 0.05371882792756773 Centerline is valid? [True, True] Translation: X:109.54, Y:-20.38, Z:-11.50 [[ 9.35191523e-01 3.48763764e-01 6.14870056e-02 1.09540086e+02] [-3.48071146e-01 9.37210291e-01 -2.19851836e-02 -2.03800234e+01] [-6.52938898e-02 -8.41495162e-04 9.97865722e-01 -1.14975682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.047719421 meters 0.053282953238225086 Centerline is valid? [True, True] Translation: X:109.56, Y:-20.40, Z:-11.50 [[ 9.36716556e-01 3.44741574e-01 6.09535971e-02 1.09564294e+02] [-3.44052688e-01 9.38697467e-01 -2.17902391e-02 -2.03963117e+01] [-6.47289885e-02 -5.59971209e-04 9.97902723e-01 -1.15018970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.077719421 meters 0.052965767079472294 Centerline is valid? [True, True] Translation: X:109.59, Y:-20.41, Z:-11.50 [[ 9.37516921e-01 3.42638588e-01 6.05047281e-02 1.09589031e+02] [-3.41957230e-01 9.39467193e-01 -2.16019983e-02 -2.04086332e+01] [-6.42438853e-02 -4.37790264e-04 9.97934132e-01 -1.15042504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.107719421 meters 0.05328533065176135 Centerline is valid? [True, True] Translation: X:109.61, Y:-20.42, Z:-11.51 [[ 9.38116462e-01 3.40900841e-01 6.10255794e-02 1.09614136e+02] [-3.40204676e-01 9.40099201e-01 -2.17777721e-02 -2.04201949e+01] [-6.47941592e-02 -3.31100936e-04 9.97898596e-01 -1.15101766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.137719421 meters 0.052934042730451894 Centerline is valid? [True, True] Translation: X:109.64, Y:-20.44, Z:-11.51 [[ 9.39100882e-01 3.38000273e-01 6.20108767e-02 1.09639779e+02] [-3.37275185e-01 9.41146002e-01 -2.21280857e-02 -2.04355794e+01] [-6.58405877e-02 -1.34225147e-04 9.97830145e-01 -1.15121446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.167719421 meters 0.053393851310754 Centerline is valid? [True, True] Translation: X:109.66, Y:-20.45, Z:-11.52 [[ 9.39704227e-01 3.36712060e-01 5.98410848e-02 1.09664467e+02] [-3.36035884e-01 9.41607660e-01 -2.13283949e-02 -2.04504720e+01] [-6.35283516e-02 -6.63689821e-05 9.97980032e-01 -1.15178379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.197719421 meters 0.05357036716116159 Centerline is valid? [True, True] Translation: X:109.69, Y:-20.46, Z:-11.52 [[ 9.39752842e-01 3.36764172e-01 5.87748941e-02 1.09690453e+02] [-3.36112339e-01 9.41589022e-01 -2.09429759e-02 -2.04631634e+01] [-6.23946390e-02 -7.37460751e-05 9.98051554e-01 -1.15223830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.227719421 meters 0.05317434052081564 Centerline is valid? [True, True] Translation: X:109.72, Y:-20.48, Z:-11.52 [[ 9.40195427e-01 3.35195953e-01 6.06319450e-02 1.09715996e+02] [-3.34499356e-01 9.42148434e-01 -2.15987988e-02 -2.04782889e+01] [-6.43641220e-02 2.57452691e-05 9.97926480e-01 -1.15229186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25771942099999 meters 0.0530157310760208 Centerline is valid? [True, True] Translation: X:109.74, Y:-20.49, Z:-11.52 [[ 9.40991595e-01 3.32771689e-01 6.16264650e-02 1.09741903e+02] [-3.32047227e-01 9.43007406e-01 -2.19470255e-02 -2.04910278e+01] [-6.54175616e-02 1.89069727e-04 9.97857959e-01 -1.15240372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28771942099999 meters 0.054265770794071355 Centerline is valid? [True, True] Translation: X:109.76, Y:-20.51, Z:-11.53 [[ 9.42892553e-01 3.27244405e-01 6.21669684e-02 1.09763335e+02] [-3.26495498e-01 9.44939560e-01 -2.21341110e-02 -2.05108709e+01] [-6.59872917e-02 5.72853108e-04 9.97820299e-01 -1.15324020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31771942099999 meters 0.05492363019986416 Centerline is valid? [True, True] Translation: X:109.79, Y:-20.53, Z:-11.53 [[ 9.44702002e-01 3.22218897e-01 6.09352909e-02 1.09789098e+02] [-3.21489573e-01 9.46664766e-01 -2.16858519e-02 -2.05271621e+01] [-6.46728842e-02 8.96607063e-04 9.97906115e-01 -1.15337369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.347719421 meters 0.0584000547283333 Centerline is valid? [True, True] Translation: X:109.81, Y:-20.55, Z:-11.54 [[ 9.48221048e-01 3.12081434e-01 5.90086644e-02 1.09813247e+02] [-3.11378173e-01 9.50054117e-01 -2.09954503e-02 -2.05507054e+01] [-6.26137147e-02 1.53431777e-03 9.98036657e-01 -1.15388262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.377719421 meters 0.059415140508990764 Centerline is valid? [True, True] Translation: X:109.84, Y:-20.57, Z:-11.54 [[ 9.49927229e-01 3.06739459e-01 5.95748605e-02 1.09842077e+02] [-3.06012306e-01 9.51791619e-01 -2.11939223e-02 -2.05659555e+01] [-6.32038652e-02 1.90204345e-03 9.97998824e-01 -1.15383694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.407719421 meters 0.06364231407051554 Centerline is valid? [True, True] Translation: X:109.87, Y:-20.59, Z:-11.54 [[ 9.52919429e-01 2.96913983e-01 6.15357521e-02 1.09866906e+02] [-2.96117070e-01 9.54900560e-01 -2.18997826e-02 -2.05855152e+01] [-6.52628758e-02 2.64694174e-03 9.97864595e-01 -1.15380432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.437719421 meters 0.06714386561227693 Centerline is valid? [True, True] Translation: X:109.89, Y:-20.60, Z:-11.54 [[ 9.55122087e-01 2.89527675e-01 6.25741518e-02 1.09893638e+02] [-2.88687468e-01 9.57164261e-01 -2.22738281e-02 -2.06015255e+01] [-6.63426314e-02 3.20985174e-03 9.97791738e-01 -1.15371172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.467719421 meters 0.06606509060405538 Centerline is valid? [True, True] Translation: X:109.92, Y:-20.61, Z:-11.54 [[ 9.55602583e-01 2.87745043e-01 6.34546645e-02 1.09924723e+02] [-2.86877829e-01 9.57701119e-01 -2.25760449e-02 -2.06098582e+01] [-6.72667482e-02 3.36999048e-03 9.97729336e-01 -1.15366789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.497719421 meters 0.07066014971265219 Centerline is valid? [True, True] Translation: X:109.95, Y:-20.62, Z:-11.54 [[ 9.56093146e-01 2.85749485e-01 6.50624919e-02 1.09952694e+02] [-2.84831067e-01 9.58297485e-01 -2.31774296e-02 -2.06232405e+01] [-6.89721609e-02 3.62796255e-03 9.97611988e-01 -1.15407481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.527719421 meters 0.06652397691711183 Centerline is valid? [True, True] Translation: X:109.99, Y:-20.62, Z:-11.54 [[ 9.56205048e-01 2.85389717e-01 6.49970447e-02 1.09986110e+02] [-2.84471807e-01 9.58404577e-01 -2.31615532e-02 -2.06247588e+01] [-6.89035342e-02 3.65736731e-03 9.97616623e-01 -1.15394032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.557719421 meters 0.06778395692663705 Centerline is valid? [True, True] Translation: X:110.02, Y:-20.63, Z:-11.55 [[ 9.56785996e-01 2.84144366e-01 6.18266631e-02 1.10015945e+02] [-2.83309383e-01 9.58774778e-01 -2.20617006e-02 -2.06302740e+01] [-6.55465531e-02 3.59225241e-03 9.97843046e-01 -1.15452614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.587719421 meters 0.07444813163954168 Centerline is valid? [True, True] Translation: X:110.04, Y:-20.65, Z:-11.56 [[ 9.57211225e-01 2.83212536e-01 5.94754594e-02 1.10040541e+02] [-2.82438283e-01 9.59050733e-01 -2.12204363e-02 -2.06465762e+01] [-6.30498765e-02 3.51429319e-03 9.98004190e-01 -1.15567460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61771942099999 meters 0.07120540554428036 Centerline is valid? [True, True] Translation: X:110.07, Y:-20.65, Z:-11.55 [[ 9.58591821e-01 2.79267773e-01 5.57784125e-02 1.10073776e+02] [-2.78579568e-01 9.60206704e-01 -1.99125802e-02 -2.06457731e+01] [-5.91197475e-02 3.54931050e-03 9.98244588e-01 -1.15548769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64771942099999 meters 0.07493301724071867 Centerline is valid? [True, True] Translation: X:110.10, Y:-20.66, Z:-11.56 [[ 9.59420897e-01 2.76510468e-01 5.52585208e-02 1.10100799e+02] [-2.75830470e-01 9.61003841e-01 -1.97273736e-02 -2.06569647e+01] [-5.85584760e-02 3.68487071e-03 9.98277179e-01 -1.15600183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67771942099999 meters 0.07645666227958085 Centerline is valid? [True, True] Translation: X:110.13, Y:-20.66, Z:-11.56 [[ 9.60649513e-01 2.72092548e-01 5.58404698e-02 1.10131988e+02] [-2.71390761e-01 9.62262794e-01 -1.99341600e-02 -2.06624539e+01] [-5.91571428e-02 3.99515347e-03 9.98240688e-01 -1.15596785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.707719421 meters 0.07768054122224648 Centerline is valid? [True, True] Translation: X:110.16, Y:-20.67, Z:-11.56 [[ 9.61537067e-01 2.68485721e-01 5.79817771e-02 1.10162956e+02] [-2.67722398e-01 9.63273703e-01 -2.07000342e-02 -2.06686484e+01] [-6.14099847e-02 4.38082976e-03 9.98103012e-01 -1.15587404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.737719421 meters 0.07951394741518346 Centerline is valid? [True, True] Translation: X:110.19, Y:-20.68, Z:-11.56 [[ 9.61818536e-01 2.67294910e-01 5.88093133e-02 1.10192979e+02] [-2.66507691e-01 9.63604190e-01 -2.09908574e-02 -2.06776784e+01] [-6.22796500e-02 4.51626145e-03 9.98048520e-01 -1.15621353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.767719421 meters 0.07990296777194895 Centerline is valid? [True, True] Translation: X:110.23, Y:-20.68, Z:-11.56 [[ 9.61986601e-01 2.66644420e-01 5.90129932e-02 1.10225002e+02] [-2.65850172e-01 9.63784095e-01 -2.10690553e-02 -2.06836782e+01] [-6.24937302e-02 4.57953448e-03 9.98034850e-01 -1.15648313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.797719421 meters 0.08075557098348402 Centerline is valid? [True, True] Translation: X:110.26, Y:-20.68, Z:-11.57 [[ 9.61975918e-01 2.66815589e-01 5.84104052e-02 1.10257950e+02] [-2.66035886e-01 9.63736854e-01 -2.08849915e-02 -2.06814452e+01] [-6.18647015e-02 4.55159500e-03 9.98074166e-01 -1.15691111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.827719421 meters 0.07926566323732002 Centerline is valid? [True, True] Translation: X:110.29, Y:-20.68, Z:-11.57 [[ 9.61005924e-01 2.70534685e-01 5.72590502e-02 1.10291036e+02] [-2.69791792e-01 9.62700934e-01 -2.04768238e-02 -2.06774926e+01] [-6.06630322e-02 4.23032716e-03 9.98149338e-01 -1.15740493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.857719421 meters 0.07849160955894711 Centerline is valid? [True, True] Translation: X:110.32, Y:-20.68, Z:-11.58 [[ 9.60553719e-01 2.72487333e-01 5.55626393e-02 1.10320388e+02] [-2.71791057e-01 9.62151115e-01 -1.98709197e-02 -2.06803634e+01] [-5.88742292e-02 3.98565737e-03 9.98257452e-01 -1.15786199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.887719421 meters 0.07850160883575467 Centerline is valid? [True, True] Translation: X:110.35, Y:-20.68, Z:-11.58 [[ 9.59761325e-01 2.75041869e-01 5.66583466e-02 1.10351563e+02] [-2.74322690e-01 9.61424348e-01 -2.02554762e-02 -2.06789610e+01] [-6.00438180e-02 3.89775261e-03 9.98188132e-01 -1.15827864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.917719421 meters 0.07678657030484087 Centerline is valid? [True, True] Translation: X:110.38, Y:-20.68, Z:-11.58 [[ 9.59609981e-01 2.75370015e-01 5.76197811e-02 1.10382319e+02] [-2.74626838e-01 9.61330231e-01 -2.05982321e-02 -2.06798817e+01] [-6.10637730e-02 3.94233080e-03 9.98126081e-01 -1.15831515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.947719421 meters 0.07609259613737526 Centerline is valid? [True, True] Translation: X:110.41, Y:-20.68, Z:-11.58 [[ 9.59127818e-01 2.76372507e-01 6.07623800e-02 1.10414188e+02] [-2.75548384e-01 9.61041912e-01 -2.17147951e-02 -2.06763219e+01] [-6.43965662e-02 4.08428843e-03 9.97916029e-01 -1.15829223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.977719421 meters 0.07648505658098935 Centerline is valid? [True, True] Translation: X:110.44, Y:-20.68, Z:-11.59 [[ 9.59185760e-01 2.76039557e-01 6.13583032e-02 1.10442633e+02] [-2.75198717e-01 9.61137343e-01 -2.19242774e-02 -2.06804262e+01] [-6.50257243e-02 4.14372839e-03 9.97874985e-01 -1.15862948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00771942099999 meters 0.07728016198899441 Centerline is valid? [True, True] Translation: X:110.47, Y:-20.68, Z:-11.59 [[ 9.59238219e-01 2.75683794e-01 6.21328047e-02 1.10471758e+02] [-2.74821022e-01 9.61239125e-01 -2.21979631e-02 -2.06812257e+01] [-6.58441016e-02 4.21773372e-03 9.97821009e-01 -1.15908762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03771942099999 meters 0.07692172149668881 Centerline is valid? [True, True] Translation: X:110.50, Y:-20.69, Z:-11.59 [[ 9.59061071e-01 2.76185509e-01 6.26372692e-02 1.10500814e+02] [-2.75310581e-01 9.61095148e-01 -2.23651497e-02 -2.06860351e+01] [-6.63773057e-02 4.20484142e-03 9.97785735e-01 -1.15931063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06771942099999 meters 0.07448579626461795 Centerline is valid? [True, True] Translation: X:110.53, Y:-20.68, Z:-11.60 [[ 9.57775126e-01 2.80309879e-01 6.39779574e-02 1.10534256e+02] [-2.79406752e-01 9.59901249e-01 -2.28354643e-02 -2.06833453e+01] [-6.78135275e-02 3.99536644e-03 9.97690013e-01 -1.15961691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.097719421 meters 0.0657298379653555 Centerline is valid? [True, True] Translation: X:110.57, Y:-20.67, Z:-11.60 [[ 9.55745802e-01 2.87978016e-01 6.01549961e-02 1.10571374e+02] [-2.87194830e-01 9.57631524e-01 -2.14707534e-02 -2.06690228e+01] [-6.37894255e-02 3.24437853e-03 9.97958107e-01 -1.15991930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.127719421 meters 0.06816645445339037 Centerline is valid? [True, True] Translation: X:110.60, Y:-20.68, Z:-11.61 [[ 9.54673487e-01 2.91838864e-01 5.85543340e-02 1.10597485e+02] [-2.91103874e-01 9.56463073e-01 -2.09027381e-02 -2.06756456e+01] [-6.21052896e-02 2.90989644e-03 9.98065361e-01 -1.16108849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.157719421 meters 0.058963799959278855 Centerline is valid? [True, True] Translation: X:110.64, Y:-20.66, Z:-11.61 [[ 9.51475276e-01 3.02561645e-01 5.61360050e-02 1.10636344e+02] [-3.01905381e-01 9.53127486e-01 -2.00283974e-02 -2.06589485e+01] [-5.95645942e-02 2.10876293e-03 9.98222226e-01 -1.16103664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.187719421 meters 0.056613376778892124 Centerline is valid? [True, True] Translation: X:110.67, Y:-20.66, Z:-11.61 [[ 9.49940662e-01 3.07313279e-01 5.63141799e-02 1.10667432e+02] [-3.06660988e-01 9.51606661e-01 -2.00947919e-02 -2.06593632e+01] [-5.97643451e-02 1.81949794e-03 9.98210856e-01 -1.16132826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.217719421 meters 0.054462876596483335 Centerline is valid? [True, True] Translation: X:110.70, Y:-20.66, Z:-11.61 [[ 9.47847460e-01 3.13499949e-01 5.74715106e-02 1.10699783e+02] [-3.12832104e-01 9.49587101e-01 -2.05039496e-02 -2.06583038e+01] [-6.10021923e-02 1.45568298e-03 9.98136571e-01 -1.16149359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.247719421 meters 0.05421514150186923 Centerline is valid? [True, True] Translation: X:110.73, Y:-20.66, Z:-11.62 [[ 9.47195459e-01 3.15530581e-01 5.71070529e-02 1.10727042e+02] [-3.14874725e-01 9.48914492e-01 -2.03763214e-02 -2.06634145e+01] [-6.06190626e-02 1.31879149e-03 9.98160102e-01 -1.16189224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.277719421 meters 0.05277038578708519 Centerline is valid? [True, True] Translation: X:110.76, Y:-20.66, Z:-11.62 [[ 9.45011690e-01 3.21961716e-01 5.73895363e-02 1.10758700e+02] [-3.21311152e-01 9.46752250e-01 -2.04773227e-02 -2.06613054e+01] [-6.09265866e-02 9.11411297e-04 9.98141834e-01 -1.16218952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.307719421 meters 0.05206916960848205 Centerline is valid? [True, True] Translation: X:110.79, Y:-20.66, Z:-11.63 [[ 9.43320732e-01 3.26805746e-01 5.78273426e-02 1.10787737e+02] [-3.26155323e-01 9.45091350e-01 -2.06166316e-02 -2.06640845e+01] [-6.13897549e-02 5.87400347e-04 9.98113697e-01 -1.16253062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.337719421 meters 0.0512323422795309 Centerline is valid? [True, True] Translation: X:110.82, Y:-20.66, Z:-11.63 [[ 9.39706224e-01 3.37041145e-01 5.79264964e-02 1.10818634e+02] [-3.36408986e-01 9.41489914e-01 -2.06333940e-02 -2.06626585e+01] [-6.14915148e-02 -9.76651337e-05 9.98107601e-01 -1.16261014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36771942099999 meters 0.052047570583138 Centerline is valid? [True, True] Translation: X:110.85, Y:-20.66, Z:-11.63 [[ 9.36745951e-01 3.44970194e-01 5.91826673e-02 1.10847053e+02] [-3.44327775e-01 9.38613410e-01 -2.10534889e-02 -2.06619692e+01] [-6.28124714e-02 -6.56465701e-04 9.98025131e-01 -1.16291654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39771942099999 meters 0.05163154851195998 Centerline is valid? [True, True] Translation: X:110.88, Y:-20.67, Z:-11.63 [[ 9.35730046e-01 3.47472699e-01 6.05970696e-02 1.10875241e+02] [-3.46804670e-01 9.37689717e-01 -2.15526443e-02 -2.06694997e+01] [-6.43102045e-02 -8.47889845e-04 9.97929596e-01 -1.16269528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42771942099999 meters 0.052322063778389334 Centerline is valid? [True, True] Translation: X:110.90, Y:-20.68, Z:-11.63 [[ 9.35002987e-01 3.49290072e-01 6.13665968e-02 1.10900809e+02] [-3.48610727e-01 9.37014099e-01 -2.17977080e-02 -2.06782320e+01] [-6.51150894e-02 -1.01213179e-03 9.97877247e-01 -1.16306908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.457719421 meters 0.053008550420841204 Centerline is valid? [True, True] Translation: X:110.93, Y:-20.69, Z:-11.64 [[ 9.35150709e-01 3.49037022e-01 6.05500563e-02 1.10925575e+02] [-3.48375917e-01 9.37108410e-01 -2.14953325e-02 -2.06893466e+01] [-6.42446338e-02 -9.92805964e-04 9.97933686e-01 -1.16368901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.487719421 meters 0.05177983733715163 Centerline is valid? [True, True] Translation: X:110.95, Y:-20.71, Z:-11.64 [[ 9.35749764e-01 3.47224277e-01 6.17064139e-02 1.10949514e+02] [-3.46533703e-01 9.37781701e-01 -2.19060300e-02 -2.07083937e+01] [-6.54734512e-02 -8.84789704e-04 9.97853919e-01 -1.16356322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.517719421 meters 0.052416552042167046 Centerline is valid? [True, True] Translation: X:110.97, Y:-20.72, Z:-11.64 [[ 9.36046853e-01 3.46191613e-01 6.29893371e-02 1.10974515e+02] [-3.45471717e-01 9.38163435e-01 -2.23307472e-02 -2.07185129e+01] [-6.68250102e-02 -8.58408874e-04 9.97764341e-01 -1.16425040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.547719421 meters 0.052416552042167046 Centerline is valid? [True, True] Translation: X:111.00, Y:-20.73, Z:-11.65 [[ 9.36158595e-01 3.45889339e-01 6.29892842e-02 1.11000355e+02] [-3.45168750e-01 9.38274941e-01 -2.23309020e-02 -2.07273703e+01] [-6.68252879e-02 -8.36666631e-04 9.97764341e-01 -1.16453172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.577719421 meters 0.051572768349425126 Centerline is valid? [True, True] Translation: X:111.03, Y:-20.74, Z:-11.64 [[ 9.35752715e-01 3.46659426e-01 6.47618549e-02 1.11025625e+02] [-3.45901236e-01 9.37990596e-01 -2.29341875e-02 -2.07433057e+01] [-6.86963632e-02 -9.40477511e-04 9.97637171e-01 -1.16414209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.607719421 meters 0.05212557464814843 Centerline is valid? [True, True] Translation: X:111.05, Y:-20.75, Z:-11.64 [[ 9.35052461e-01 3.48492895e-01 6.50353613e-02 1.11051656e+02] [-3.47734289e-01 9.37310775e-01 -2.30081363e-02 -2.07543307e+01] [-6.89765169e-02 -1.10121062e-03 9.97617676e-01 -1.16441065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.637719421 meters 0.05360618891664482 Centerline is valid? [True, True] Translation: X:111.08, Y:-20.77, Z:-11.65 [[ 9.32896776e-01 3.53805893e-01 6.72680881e-02 1.11078116e+02] [-3.53009768e-01 9.35317556e-01 -2.37733612e-02 -2.07656127e+01] [-7.13281791e-02 -1.56820017e-03 9.97451669e-01 -1.16465813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.667719421 meters 0.05496558219861257 Centerline is valid? [True, True] Translation: X:111.11, Y:-20.78, Z:-11.65 [[ 9.31435081e-01 3.57711585e-01 6.68663766e-02 1.11105557e+02] [-3.56937176e-01 9.33830215e-01 -2.36004820e-02 -2.07753393e+01] [-7.08840086e-02 -1.88477881e-03 9.97482784e-01 -1.16500417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.697719421 meters 0.05858467247345714 Centerline is valid? [True, True] Translation: X:111.13, Y:-20.79, Z:-11.66 [[ 9.28649555e-01 3.65196584e-01 6.51264888e-02 1.11132977e+02] [-3.64480779e-01 9.30927337e-01 -2.29794355e-02 -2.07855915e+01] [-6.90200401e-02 -2.39751086e-03 9.97612393e-01 -1.16558695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.727719421 meters 0.05948025008904996 Centerline is valid? [True, True] Translation: X:111.16, Y:-20.80, Z:-11.66 [[ 9.27722454e-01 3.67692050e-01 6.42931105e-02 1.11160110e+02] [-3.67000324e-01 9.29944118e-01 -2.26870062e-02 -2.07982699e+01] [-6.81308317e-02 -2.54834733e-03 9.97673141e-01 -1.16591409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75771942099999 meters 0.06046856022220014 Centerline is valid? [True, True] Translation: X:111.18, Y:-20.82, Z:-11.66 [[ 9.26507613e-01 3.70727300e-01 6.43809922e-02 1.11184543e+02] [-3.70041141e-01 9.28737614e-01 -2.27156159e-02 -2.08169512e+01] [-6.82143480e-02 -2.77742472e-03 9.97666822e-01 -1.16609576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78771942099999 meters 0.06204481096978215 Centerline is valid? [True, True] Translation: X:111.21, Y:-20.83, Z:-11.67 [[ 9.26458052e-01 3.70926442e-01 6.39457062e-02 1.11208756e+02] [-3.70250230e-01 9.28658101e-01 -2.25587967e-02 -2.08302776e+01] [-6.77513522e-02 -2.77613364e-03 9.97698375e-01 -1.16659987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81771942099999 meters 0.061829750660692205 Centerline is valid? [True, True] Translation: X:111.23, Y:-20.86, Z:-11.67 [[ 9.26578184e-01 3.71120960e-01 6.10090263e-02 1.11230981e+02] [-3.70506537e-01 9.28580691e-01 -2.15129320e-02 -2.08551459e+01] [-6.46357037e-02 -2.67082957e-03 9.97905352e-01 -1.16701352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.847719421 meters 0.0615274655970856 Centerline is valid? [True, True] Translation: X:111.25, Y:-20.88, Z:-11.67 [[ 9.27219014e-01 3.69723976e-01 5.97417947e-02 1.11252539e+02] [-3.69131291e-01 9.29138246e-01 -2.10762933e-02 -2.08770911e+01] [-6.33007973e-02 -2.51022589e-03 9.97991337e-01 -1.16737600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.877719421 meters 0.06190689120718712 Centerline is valid? [True, True] Translation: X:111.28, Y:-20.89, Z:-11.68 [[ 9.27742137e-01 3.68256193e-01 6.06786889e-02 1.11277200e+02] [-3.67643389e-01 9.29721065e-01 -2.13794414e-02 -2.08917149e+01] [-6.42873669e-02 -2.47351016e-03 9.97928362e-01 -1.16771077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.907719421 meters 0.06018607020391489 Centerline is valid? [True, True] Translation: X:111.30, Y:-20.92, Z:-11.68 [[ 9.28957517e-01 3.64513875e-01 6.45566988e-02 1.11299902e+02] [-3.63813546e-01 9.31194892e-01 -2.27107364e-02 -2.09181457e+01] [-6.83932467e-02 -2.38929219e-03 9.97655579e-01 -1.16765138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.937719421 meters 0.05905874256926227 Centerline is valid? [True, True] Translation: X:111.32, Y:-20.94, Z:-11.68 [[ 9.29931769e-01 3.61816458e-01 6.56944117e-02 1.11324030e+02] [-3.61084039e-01 9.32246698e-01 -2.31173231e-02 -2.09379534e+01] [-6.96076263e-02 -2.22367040e-03 9.97571969e-01 -1.16780440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.967719421 meters 0.057535931072967145 Centerline is valid? [True, True] Translation: X:111.35, Y:-20.96, Z:-11.68 [[ 9.30964128e-01 3.58986572e-01 6.65915479e-02 1.11347244e+02] [-3.58228744e-01 9.33340438e-01 -2.34049910e-02 -2.09587920e+01] [-7.05546620e-02 -2.06579950e-03 9.97505775e-01 -1.16796003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.997719421 meters 0.056551529006182724 Centerline is valid? [True, True] Translation: X:111.37, Y:-20.98, Z:-11.69 [[ 9.32763683e-01 3.54283124e-01 6.65986457e-02 1.11367723e+02] [-3.53513564e-01 9.35136635e-01 -2.34015926e-02 -2.09834259e+01] [-7.05696227e-02 -1.71536886e-03 9.97505381e-01 -1.16856325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.027719421 meters 0.05568680063245667 Centerline is valid? [True, True] Translation: X:111.39, Y:-21.01, Z:-11.69 [[ 9.35076737e-01 3.48464909e-01 6.48359743e-02 1.11388946e+02] [-3.47721660e-01 9.37321003e-01 -2.27812246e-02 -2.10063548e+01] [-6.87105778e-02 -1.24267946e-03 9.97635862e-01 -1.16937103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.057719421 meters 0.054512410204904826 Centerline is valid? [True, True] Translation: X:111.41, Y:-21.02, Z:-11.69 [[ 9.36092398e-01 3.45691716e-01 6.50250674e-02 1.11412771e+02] [-3.44938914e-01 9.38347542e-01 -2.28262339e-02 -2.10246839e+01] [-6.89069521e-02 -1.06221206e-03 9.97622526e-01 -1.16947126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.087719421 meters 0.05343399253584047 Centerline is valid? [True, True] Translation: X:111.43, Y:-21.05, Z:-11.70 [[ 9.38434925e-01 3.39428169e-01 6.42526992e-02 1.11434185e+02] [-3.38679890e-01 9.40631777e-01 -2.25342196e-02 -2.10510144e+01] [-6.80868796e-02 -6.14198401e-04 9.97679207e-01 -1.16986612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11771942099999 meters 0.053279487066836835 Centerline is valid? [True, True] Translation: X:111.46, Y:-21.07, Z:-11.70 [[ 9.39372915e-01 3.37045840e-01 6.30763688e-02 1.11458733e+02] [-3.36321301e-01 9.41488125e-01 -2.20928249e-02 -2.10678609e+01] [-6.68319469e-02 -4.60525048e-04 9.97764140e-01 -1.17020219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14771942099999 meters 0.053417485081772416 Centerline is valid? [True, True] Translation: X:111.48, Y:-21.09, Z:-11.71 [[ 9.39763424e-01 3.36165521e-01 6.19471488e-02 1.11481579e+02] [-3.35465143e-01 9.41802838e-01 -2.16922088e-02 -2.10855730e+01] [-6.56341733e-02 -3.95564732e-04 9.97843675e-01 -1.17068755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17771942099999 meters 0.053282889926781964 Centerline is valid? [True, True] Translation: X:111.51, Y:-21.10, Z:-11.71 [[ 9.39274971e-01 3.37159354e-01 6.39225982e-02 1.11507703e+02] [-3.36416451e-01 9.41447466e-01 -2.23749802e-02 -2.10966655e+01] [-6.77237020e-02 -4.88354732e-04 9.97703995e-01 -1.17090520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.207719421 meters 0.05322867760060864 Centerline is valid? [True, True] Translation: X:111.54, Y:-21.11, Z:-11.71 [[ 9.38488819e-01 3.38958776e-01 6.59218129e-02 1.11535244e+02] [-3.38173510e-01 9.40801006e-01 -2.30682323e-02 -2.11068080e+01] [-6.98384878e-02 -6.43732781e-04 9.97558104e-01 -1.17088979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.237719421 meters 0.05412508112474076 Centerline is valid? [True, True] Translation: X:111.56, Y:-21.11, Z:-11.71 [[ 9.36389281e-01 3.44310437e-01 6.80105689e-02 1.11561666e+02] [-3.43488775e-01 9.38855240e-01 -2.37970543e-02 -2.11137722e+01] [-7.20456532e-02 -1.07756040e-03 9.97400753e-01 -1.17111325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.267719421 meters 0.05568161998411036 Centerline is valid? [True, True] Translation: X:111.59, Y:-21.12, Z:-11.71 [[ 9.34253573e-01 3.49616209e-01 7.02763669e-02 1.11588146e+02] [-3.48755466e-01 9.36891713e-01 -2.45671259e-02 -2.11230285e+01] [-7.44304112e-02 -1.55734194e-03 9.97224994e-01 -1.17134244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.297719421 meters 0.0570250759105401 Centerline is valid? [True, True] Translation: X:111.61, Y:-21.13, Z:-11.72 [[ 9.33059220e-01 3.52462478e-01 7.19075363e-02 1.11614842e+02] [-3.51570231e-01 9.35824152e-01 -2.51302469e-02 -2.11293701e+01] [-7.61502783e-02 -1.83254060e-03 9.97094668e-01 -1.17166780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.327719421 meters 0.05843193631948657 Centerline is valid? [True, True] Translation: X:111.64, Y:-21.14, Z:-11.72 [[ 9.30707470e-01 3.58974630e-01 7.01485619e-02 1.11644151e+02] [-3.58145087e-01 9.33344432e-01 -2.45003438e-02 -2.11370978e+01] [-7.42677715e-02 -2.32070985e-03 9.97235635e-01 -1.17190777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.357719421 meters 0.05995929199315856 Centerline is valid? [True, True] Translation: X:111.67, Y:-21.14, Z:-11.72 [[ 9.29351897e-01 3.62632881e-01 6.92996829e-02 1.11672033e+02] [-3.61833466e-01 9.31928501e-01 -2.42035532e-02 -2.11447957e+01] [-7.33593538e-02 -2.58132643e-03 9.97302232e-01 -1.17227246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.387719421 meters 0.06299984723963725 Centerline is valid? [True, True] Translation: X:111.70, Y:-21.15, Z:-11.73 [[ 9.27181774e-01 3.68067569e-01 6.97152902e-02 1.11699465e+02] [-3.67274226e-01 9.29794095e-01 -2.43430663e-02 -2.11529665e+01] [-7.37807584e-02 -3.03418185e-03 9.97269870e-01 -1.17262057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.417719421 meters 0.06482167744754097 Centerline is valid? [True, True] Translation: X:111.73, Y:-21.16, Z:-11.73 [[ 9.25776550e-01 3.71338112e-01 7.10336969e-02 1.11727075e+02] [-3.70524285e-01 9.28491634e-01 -2.48000016e-02 -2.11648107e+01] [-7.51633790e-02 -3.36044986e-03 9.97165570e-01 -1.17271645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.447719421 meters 0.06528938254915656 Centerline is valid? [True, True] Translation: X:111.75, Y:-21.18, Z:-11.73 [[ 9.25588404e-01 3.71503630e-01 7.26027572e-02 1.11753226e+02] [-3.70653682e-01 9.28425107e-01 -2.53509250e-02 -2.11756321e+01] [-7.68241832e-02 -3.44595709e-03 9.97038700e-01 -1.17292031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.477719421 meters 0.06644613122789875 Centerline is valid? [True, True] Translation: X:111.78, Y:-21.19, Z:-11.73 [[ 9.25277361e-01 3.71859794e-01 7.47134398e-02 1.11778937e+02] [-3.70963124e-01 9.28281909e-01 -2.60587529e-02 -2.11855506e+01] [-7.90453370e-02 -3.60435687e-03 9.96864506e-01 -1.17330114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50771942099999 meters 0.0649078958287187 Centerline is valid? [True, True] Translation: X:111.80, Y:-21.20, Z:-11.73 [[ 9.25260693e-01 3.71647602e-01 7.59651884e-02 1.11804297e+02] [-3.70720236e-01 9.28366701e-01 -2.64910278e-02 -2.11994533e+01] [-8.03688783e-02 -3.65072579e-03 9.96758504e-01 -1.17341279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53771942099999 meters 0.06256595388376805 Centerline is valid? [True, True] Translation: X:111.83, Y:-21.22, Z:-11.73 [[ 9.25245918e-01 3.71561774e-01 7.65626530e-02 1.11826727e+02] [-3.70621841e-01 9.28400863e-01 -2.66699978e-02 -2.12227053e+01] [-8.09903848e-02 -3.69948481e-03 9.96708017e-01 -1.17344198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56771942099999 meters 0.06416733484960241 Centerline is valid? [True, True] Translation: X:111.85, Y:-21.24, Z:-11.74 [[ 9.25153289e-01 3.71755535e-01 7.67412158e-02 1.11851651e+02] [-3.70812444e-01 9.28323164e-01 -2.67251777e-02 -2.12350873e+01] [-8.11758810e-02 -3.73171175e-03 9.96692807e-01 -1.17385944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.597719421 meters 0.0651749818315584 Centerline is valid? [True, True] Translation: X:111.87, Y:-21.25, Z:-11.74 [[ 9.24912642e-01 3.72583211e-01 7.56198121e-02 1.11874591e+02] [-3.71670837e-01 9.27991191e-01 -2.63275252e-02 -2.12509184e+01] [-7.99837134e-02 -3.75501792e-03 9.96789098e-01 -1.17439586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.627719421 meters 0.06602803913774372 Centerline is valid? [True, True] Translation: X:111.90, Y:-21.26, Z:-11.75 [[ 9.24544079e-01 3.73592015e-01 7.51481985e-02 1.11900918e+02] [-3.72695692e-01 9.27585201e-01 -2.61460429e-02 -2.12614294e+01] [-7.94743097e-02 -3.83424068e-03 9.96829540e-01 -1.17483219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.657719421 meters 0.06832629906458736 Centerline is valid? [True, True] Translation: X:111.93, Y:-21.27, Z:-11.75 [[ 9.23569912e-01 3.76326401e-01 7.34646745e-02 1.11927016e+02] [-3.75479059e-01 9.26478580e-01 -2.55522512e-02 -2.12742985e+01] [-7.76794340e-02 -3.98515650e-03 9.96970423e-01 -1.17545931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.687719421 meters 0.06754010174913355 Centerline is valid? [True, True] Translation: X:111.95, Y:-21.30, Z:-11.76 [[ 9.22796450e-01 3.78838423e-01 7.02008639e-02 1.11951846e+02] [-3.78072146e-01 9.25454138e-01 -2.44149720e-02 -2.12951063e+01] [-7.42170095e-02 -4.01094174e-03 9.97234049e-01 -1.17581232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.717719421 meters 0.07127569750088285 Centerline is valid? [True, True] Translation: X:111.98, Y:-21.30, Z:-11.76 [[ 9.22456066e-01 3.79830618e-01 6.93073494e-02 1.11978239e+02] [-3.79086203e-01 9.25047256e-01 -2.41086076e-02 -2.13012398e+01] [-7.32697607e-02 -4.03432865e-03 9.97303999e-01 -1.17644467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.747719421 meters 0.07261642864251548 Centerline is valid? [True, True] Translation: X:112.01, Y:-21.31, Z:-11.77 [[ 9.21823169e-01 3.81374705e-01 6.92486731e-02 1.12005161e+02] [-3.80636841e-01 9.24411154e-01 -2.40751503e-02 -2.13123886e+01] [-7.31958992e-02 -4.16556486e-03 9.97308883e-01 -1.17674498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.777719421 meters 0.0712196481409349 Centerline is valid? [True, True] Translation: X:112.03, Y:-21.33, Z:-11.77 [[ 9.20351766e-01 3.84723224e-01 7.02898848e-02 1.12030022e+02] [-3.83973141e-01 9.23020992e-01 -2.44310188e-02 -2.13312993e+01] [-7.42782195e-02 -4.50429659e-03 9.97227385e-01 -1.17665042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.807719421 meters 0.07229056085345804 Centerline is valid? [True, True] Translation: X:112.06, Y:-21.34, Z:-11.77 [[ 9.19647168e-01 3.86506266e-01 6.97280001e-02 1.12057165e+02] [-3.85773839e-01 9.22275217e-01 -2.42274461e-02 -2.13428956e+01] [-7.36724662e-02 -4.61853613e-03 9.97271797e-01 -1.17705133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.837719421 meters 0.07396328850809548 Centerline is valid? [True, True] Translation: X:112.08, Y:-21.36, Z:-11.78 [[ 9.19578082e-01 3.86874355e-01 6.85885215e-02 1.12081513e+02] [-3.86166793e-01 9.22121100e-01 -2.38303298e-02 -2.13572395e+01] [-7.24662664e-02 -4.57276040e-03 9.97360381e-01 -1.17771848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86771942099999 meters 0.07321246941804235 Centerline is valid? [True, True] Translation: X:112.11, Y:-21.37, Z:-11.78 [[ 9.20169070e-01 3.85613698e-01 6.77566158e-02 1.12107103e+02] [-3.84920455e-01 9.22649703e-01 -2.35322779e-02 -2.13721465e+01] [-7.15899902e-02 -4.42723310e-03 9.97424319e-01 -1.17804163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89771942099999 meters 0.07156033051253052 Centerline is valid? [True, True] Translation: X:112.13, Y:-21.40, Z:-11.78 [[ 9.21599788e-01 3.81943389e-01 6.90874668e-02 1.12130240e+02] [-3.81212784e-01 9.24176045e-01 -2.39885607e-02 -2.13955218e+01] [-7.30112539e-02 -4.22917312e-03 9.97322150e-01 -1.17810667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92771942099999 meters 0.06803293809808766 Centerline is valid? [True, True] Translation: X:112.15, Y:-21.42, Z:-11.78 [[ 9.24399922e-01 3.75282191e-01 6.81766888e-02 1.12152488e+02] [-3.74552847e-01 9.26903401e-01 -2.36696208e-02 -2.14224935e+01] [-7.20759918e-02 -3.65557722e-03 9.97392444e-01 -1.17832121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.957719421 meters 0.06619228033255063 Centerline is valid? [True, True] Translation: X:112.18, Y:-21.44, Z:-11.79 [[ 9.25899805e-01 3.71609100e-01 6.79428301e-02 1.12178112e+02] [-3.70874893e-01 9.28383219e-01 -2.35883864e-02 -2.14403841e+01] [-7.18426424e-02 -3.35780747e-03 9.97410327e-01 -1.17866079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.987719421 meters 0.06290269805988849 Centerline is valid? [True, True] Translation: X:112.20, Y:-21.46, Z:-11.79 [[ 9.28436305e-01 3.65022609e-01 6.90255263e-02 1.12202172e+02] [-3.64246604e-01 9.30994160e-01 -2.39642687e-02 -2.14647019e+01] [-7.30098617e-02 -2.89301648e-03 9.97327023e-01 -1.17889625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.017719421 meters 0.06129350211889158 Centerline is valid? [True, True] Translation: X:112.23, Y:-21.48, Z:-11.79 [[ 9.29670104e-01 3.61658427e-01 7.01190399e-02 1.12228996e+02] [-3.60848145e-01 9.32306841e-01 -2.43427848e-02 -2.14816999e+01] [-7.41762338e-02 -2.67156622e-03 9.97241570e-01 -1.17904847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.047719421 meters 0.05700259839002577 Centerline is valid? [True, True] Translation: X:112.25, Y:-21.51, Z:-11.79 [[ 9.31561408e-01 3.56320691e-01 7.23111885e-02 1.12252650e+02] [-3.55442534e-01 9.34360859e-01 -2.51075918e-02 -2.15103490e+01] [-7.65110987e-02 -2.31320846e-03 9.97066046e-01 -1.17856515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.077719421 meters 0.05673821236742423 Centerline is valid? [True, True] Translation: X:112.28, Y:-21.52, Z:-11.79 [[ 9.32250190e-01 3.54366889e-01 7.30321242e-02 1.12280982e+02] [-3.53465549e-01 9.35103929e-01 -2.53524745e-02 -2.15248677e+01] [-7.72767037e-02 -2.17949071e-03 9.97007302e-01 -1.17893752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.107719421 meters 0.05537896632862391 Centerline is valid? [True, True] Translation: X:112.31, Y:-21.54, Z:-11.79 [[ 9.33428069e-01 3.51713779e-01 7.07775176e-02 1.12307403e+02] [-3.50858017e-01 9.36105705e-01 -2.45918962e-02 -2.15447298e+01] [-7.49045468e-02 -1.87809333e-03 9.97188940e-01 -1.17928040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.137719421 meters 0.05464591320609534 Centerline is valid? [True, True] Translation: X:112.34, Y:-21.56, Z:-11.80 [[ 9.34619876e-01 3.48656405e-01 7.01740593e-02 1.12335412e+02] [-3.47804578e-01 9.37249258e-01 -2.44090959e-02 -2.15624151e+01] [-7.42809727e-02 -1.59363291e-03 9.97236079e-01 -1.17971931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.167719421 meters 0.05432215211968868 Centerline is valid? [True, True] Translation: X:112.36, Y:-21.58, Z:-11.80 [[ 9.35038506e-01 3.47425390e-01 7.07007168e-02 1.12363364e+02] [-3.46556476e-01 9.37706433e-01 -2.46019152e-02 -2.15757030e+01] [-7.48438469e-02 -1.49805327e-03 9.97194141e-01 -1.17991397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.197719421 meters 0.054098038878841966 Centerline is valid? [True, True] Translation: X:112.39, Y:-21.59, Z:-11.80 [[ 9.35431508e-01 3.46304648e-01 7.09998922e-02 1.12391329e+02] [-3.45423487e-01 9.38121073e-01 -2.47278521e-02 -2.15890003e+01] [-7.51698652e-02 -1.39381838e-03 9.97169769e-01 -1.18023148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22771942099999 meters 0.053665391393826575 Centerline is valid? [True, True] Translation: X:112.42, Y:-21.60, Z:-11.80 [[ 9.35019649e-01 3.47385275e-01 7.11458158e-02 1.12421611e+02] [-3.46502169e-01 9.37721346e-01 -2.47976829e-02 -2.16018827e+01] [-7.53293000e-02 -1.46585868e-03 9.97157634e-01 -1.18020787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25771942099999 meters 0.0552150910197843 Centerline is valid? [True, True] Translation: X:112.45, Y:-21.61, Z:-11.81 [[ 9.33577664e-01 3.51136244e-01 7.16664807e-02 1.12452404e+02] [-3.50248878e-01 9.36322736e-01 -2.50091717e-02 -2.16071995e+01] [-7.58845819e-02 -1.75310031e-03 9.97115067e-01 -1.18070577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28771942099999 meters 0.05639802087502973 Centerline is valid? [True, True] Translation: X:112.48, Y:-21.61, Z:-11.81 [[ 9.32377627e-01 3.54300589e-01 7.17150782e-02 1.12482705e+02] [-3.53419112e-01 9.35129486e-01 -2.50554722e-02 -2.16131982e+01] [-7.59400528e-02 -1.98431748e-03 9.97110411e-01 -1.18106056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31771942099999 meters 0.05933051414676316 Centerline is valid? [True, True] Translation: X:112.51, Y:-21.61, Z:-11.82 [[ 9.29926520e-01 3.61038875e-01 6.99113593e-02 1.12513270e+02] [-3.60219840e-01 9.32547506e-01 -2.44298061e-02 -2.16132689e+01] [-7.40157735e-02 -2.46553404e-03 9.97254023e-01 -1.18166597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.347719421 meters 0.058099991687219875 Centerline is valid? [True, True] Translation: X:112.54, Y:-21.63, Z:-11.82 [[ 9.28934845e-01 3.63745031e-01 6.90623283e-02 1.12542861e+02] [-3.62953511e-01 9.31494777e-01 -2.41294117e-02 -2.16264875e+01] [-7.31081517e-02 -2.65176320e-03 9.97320493e-01 -1.18163282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.377719421 meters 0.05941753727133498 Centerline is valid? [True, True] Translation: X:112.57, Y:-21.64, Z:-11.82 [[ 9.27582822e-01 3.67378994e-01 6.79910602e-02 1.12572344e+02] [-3.66621020e-01 9.30066854e-01 -2.37628998e-02 -2.16364454e+01] [-7.19662217e-02 -2.88489421e-03 9.97402898e-01 -1.18197833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.407719421 meters 0.0597720702484821 Centerline is valid? [True, True] Translation: X:112.60, Y:-21.65, Z:-11.82 [[ 9.27117171e-01 3.68606901e-01 6.76956641e-02 1.12602262e+02] [-3.67858803e-01 9.29580629e-01 -2.36591516e-02 -2.16464504e+01] [-7.16495045e-02 -2.96764028e-03 9.97425457e-01 -1.18231926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.437719421 meters 0.0597720702484821 Centerline is valid? [True, True] Translation: X:112.63, Y:-21.66, Z:-11.83 [[ 9.26992395e-01 3.68920934e-01 6.76937548e-02 1.12632695e+02] [-3.68173272e-01 9.29455985e-01 -2.36646158e-02 -2.16573411e+01] [-7.16487377e-02 -2.98611232e-03 9.97425457e-01 -1.18265230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.467719421 meters 0.061132743168195745 Centerline is valid? [True, True] Translation: X:112.66, Y:-21.66, Z:-11.83 [[ 9.26121938e-01 3.71184309e-01 6.72336530e-02 1.12664232e+02] [-3.70450312e-01 9.28554010e-01 -2.35375813e-02 -2.16633774e+01] [-7.11668589e-02 -3.10805725e-03 9.97459582e-01 -1.18326319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.497719421 meters 0.061373218087887024 Centerline is valid? [True, True] Translation: X:112.69, Y:-21.67, Z:-11.83 [[ 9.25453714e-01 3.72939382e-01 6.67206140e-02 1.12694847e+02] [-3.72221164e-01 9.27850125e-01 -2.33570017e-02 -2.16738566e+01] [-7.06174758e-02 -3.21900067e-03 9.97498276e-01 -1.18349941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.527719421 meters 0.06267558268825477 Centerline is valid? [True, True] Translation: X:112.72, Y:-21.68, Z:-11.84 [[ 9.24786898e-01 3.74739412e-01 6.58753779e-02 1.12724109e+02] [-3.74041941e-01 9.27124349e-01 -2.30882567e-02 -2.16846738e+01] [-6.97267466e-02 -3.28843689e-03 9.97560708e-01 -1.18391836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.557719421 meters 0.06291748715754444 Centerline is valid? [True, True] Translation: X:112.75, Y:-21.70, Z:-11.84 [[ 9.24836549e-01 3.74971121e-01 6.38280189e-02 1.12753063e+02] [-3.74316623e-01 9.27030974e-01 -2.23749667e-02 -2.16974505e+01] [-6.75605168e-02 -3.19870153e-03 9.97710051e-01 -1.18443676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.587719421 meters 0.06305517857898406 Centerline is valid? [True, True] Translation: X:112.78, Y:-21.71, Z:-11.85 [[ 9.25013397e-01 3.74680821e-01 6.29642557e-02 1.12782213e+02] [-3.74041941e-01 9.27148625e-01 -2.20919234e-02 -2.17084041e+01] [-6.66546432e-02 -3.11594730e-03 9.97771241e-01 -1.18493908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61771942099999 meters 0.06188405007736476 Centerline is valid? [True, True] Translation: X:112.81, Y:-21.72, Z:-11.85 [[ 9.26313355e-01 3.71890267e-01 6.03423380e-02 1.12810733e+02] [-3.71295790e-01 9.28272576e-01 -2.12005025e-02 -2.17244114e+01] [-6.38983981e-02 -2.76654740e-03 9.97952574e-01 -1.18548718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64771942099999 meters 0.06092060310539156 Centerline is valid? [True, True] Translation: X:112.84, Y:-21.74, Z:-11.86 [[ 9.26912029e-01 3.70475482e-01 5.98498810e-02 1.12839121e+02] [-3.69887795e-01 9.28838471e-01 -2.10265119e-02 -2.17394219e+01] [-6.33806791e-02 -2.64801375e-03 9.97985910e-01 -1.18581231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67771942099999 meters 0.05987966406741468 Centerline is valid? [True, True] Translation: X:112.87, Y:-21.75, Z:-11.86 [[ 9.28175909e-01 3.67323022e-01 5.96932086e-02 1.12866328e+02] [-3.66729976e-01 9.30090344e-01 -2.10018328e-02 -2.17538427e+01] [-6.32345336e-02 -2.39789370e-03 9.97995814e-01 -1.18617855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.707719421 meters 0.05725995548111082 Centerline is valid? [True, True] Translation: X:112.89, Y:-21.77, Z:-11.86 [[ 9.31301327e-01 3.58879453e-01 6.23167435e-02 1.12890103e+02] [-3.58213802e-01 9.33381986e-01 -2.19303431e-02 -2.17749054e+01] [-6.60356754e-02 -1.89895999e-03 9.97815456e-01 -1.18626443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.737719421 meters 0.054161518315550994 Centerline is valid? [True, True] Translation: X:112.91, Y:-21.80, Z:-11.86 [[ 9.34761264e-01 3.49554813e-01 6.35044240e-02 1.12914486e+02] [-3.48842136e-01 9.36915061e-01 -2.23457368e-02 -2.17989781e+01] [-6.73093112e-02 -1.26508974e-03 9.97731355e-01 -1.18634946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.767719421 meters 0.05322795046424791 Centerline is valid? [True, True] Translation: X:112.94, Y:-21.82, Z:-11.87 [[ 9.36444911e-01 3.44938482e-01 6.39403794e-02 1.12942310e+02] [-3.44205793e-01 9.38624816e-01 -2.24905845e-02 -2.18157861e+01] [-6.77738950e-02 -9.47455587e-04 9.97700256e-01 -1.18661985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.797719421 meters 0.052183229939953675 Centerline is valid? [True, True] Translation: X:112.97, Y:-21.84, Z:-11.87 [[ 9.39294385e-01 3.37092156e-01 6.39916909e-02 1.12969184e+02] [-3.36338677e-01 9.41471586e-01 -2.25288096e-02 -2.18356343e+01] [-6.78406438e-02 -3.61696241e-04 9.97696104e-01 -1.18687483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.827719421 meters 0.05230584864133713 Centerline is valid? [True, True] Translation: X:113.00, Y:-21.85, Z:-11.87 [[ 9.40133790e-01 3.34838948e-01 6.34928080e-02 1.12998736e+02] [-3.34090734e-01 9.42275356e-01 -2.23726352e-02 -2.18497547e+01] [-6.73189379e-02 -1.79088465e-04 9.97731491e-01 -1.18730250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.857719421 meters 0.05173902439542905 Centerline is valid? [True, True] Translation: X:113.03, Y:-21.87, Z:-11.87 [[ 9.40657226e-01 3.32814160e-01 6.63228377e-02 1.13027735e+02] [-3.31990080e-01 9.42992436e-01 -2.34062292e-02 -2.18652643e+01] [-7.03318588e-02 -1.28558962e-06 9.97523649e-01 -1.18692531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.887719421 meters 0.05166012104181579 Centerline is valid? [True, True] Translation: X:113.06, Y:-21.88, Z:-11.87 [[ 9.40119568e-01 3.34021288e-01 6.78599809e-02 1.13057508e+02] [-3.33161783e-01 9.42565526e-01 -2.39469499e-02 -2.18750079e+01] [-7.19612696e-02 -9.53560131e-05 9.97407423e-01 -1.18718793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.917719421 meters 0.05149482971173946 Centerline is valid? [True, True] Translation: X:113.09, Y:-21.88, Z:-11.88 [[ 9.39098380e-01 3.36531426e-01 6.95760917e-02 1.13088415e+02] [-3.35633003e-01 9.41672196e-01 -2.45756577e-02 -2.18798944e+01] [-7.37883522e-02 -2.73072277e-04 9.97273886e-01 -1.18759747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.947719421 meters 0.05154727914889348 Centerline is valid? [True, True] Translation: X:113.12, Y:-21.89, Z:-11.88 [[ 9.38672350e-01 3.37680459e-01 6.97576335e-02 1.13119815e+02] [-3.36779046e-01 9.41260744e-01 -2.46594060e-02 -2.18884165e+01] [-7.39871215e-02 -3.45806643e-04 9.97259137e-01 -1.18797855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97771942099999 meters 0.05124394788237056 Centerline is valid? [True, True] Translation: X:113.15, Y:-21.90, Z:-11.88 [[ 9.37764022e-01 3.39857901e-01 7.13809942e-02 1.13150961e+02] [-3.38918154e-01 9.40476663e-01 -2.52612463e-02 -2.18960761e+01] [-7.57173934e-02 -5.03226890e-04 9.97129191e-01 -1.18793991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00771942099999 meters 0.05119981811183429 Centerline is valid? [True, True] Translation: X:113.18, Y:-21.91, Z:-11.88 [[ 9.38021138e-01 3.39075696e-01 7.17217950e-02 1.13181254e+02] [-3.38122735e-01 9.40759001e-01 -2.54070667e-02 -2.19056685e+01] [-7.60878430e-02 -4.18403819e-04 9.97101031e-01 -1.18838718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03771942099999 meters 0.05143964273532198 Centerline is valid? [True, True] Translation: X:113.21, Y:-21.92, Z:-11.89 [[ 9.38332038e-01 3.38476077e-01 7.04764647e-02 1.13210519e+02] [-3.37552446e-01 9.40974936e-01 -2.49903296e-02 -2.19162958e+01] [-7.47752156e-02 -3.40276137e-04 9.97200357e-01 -1.18896098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06771942099999 meters 0.05179970614043787 Centerline is valid? [True, True] Translation: X:113.24, Y:-21.93, Z:-11.90 [[ 9.39095910e-01 3.37044184e-01 6.70827034e-02 1.13240371e+02] [-3.36202399e-01 9.41488810e-01 -2.38068814e-02 -2.19254734e+01] [-7.11815856e-02 -1.96420832e-04 9.97463354e-01 -1.18963297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.097719421 meters 0.051899335821378345 Centerline is valid? [True, True] Translation: X:113.27, Y:-21.94, Z:-11.90 [[ 9.38993985e-01 3.37379919e-01 6.68213020e-02 1.13271787e+02] [-3.36544197e-01 9.41368551e-01 -2.37329782e-02 -2.19355084e+01] [-7.09105025e-02 -2.03197649e-04 9.97482661e-01 -1.19009393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.127719421 meters 0.05171824083920284 Centerline is valid? [True, True] Translation: X:113.30, Y:-21.94, Z:-11.90 [[ 9.38225998e-01 3.39167575e-01 6.85370978e-02 1.13303349e+02] [-3.38291001e-01 9.40725919e-01 -2.43709838e-02 -2.19414694e+01] [-7.27404718e-02 -3.19992821e-04 9.97350852e-01 -1.19025471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.157719421 meters 0.051718228397091795 Centerline is valid? [True, True] Translation: X:113.33, Y:-21.95, Z:-11.91 [[ 9.37303675e-01 3.41553069e-01 6.93060088e-02 1.13333670e+02] [-3.40661142e-01 9.39862366e-01 -2.46722413e-02 -2.19485369e+01] [-7.35649891e-02 -4.84481678e-04 9.97290308e-01 -1.19053095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.187719421 meters 0.05260860434196434 Centerline is valid? [True, True] Translation: X:113.37, Y:-21.95, Z:-11.91 [[ 9.34146885e-01 3.49811661e-01 7.07205742e-02 1.13367310e+02] [-3.48905642e-01 9.36819346e-01 -2.51866164e-02 -2.19458657e+01] [-7.50629742e-02 -1.14680810e-03 9.97178136e-01 -1.19093389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.217719421 meters 0.05377459336145922 Centerline is valid? [True, True] Translation: X:113.40, Y:-21.95, Z:-11.91 [[ 9.31930309e-01 3.55769685e-01 7.02412238e-02 1.13400373e+02] [-3.54891187e-01 9.34572302e-01 -2.50371448e-02 -2.19472828e+01] [-7.45529593e-02 -1.59511719e-03 9.97215780e-01 -1.19131565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.247719421 meters 0.059098135211531906 Centerline is valid? [True, True] Translation: X:113.43, Y:-21.94, Z:-11.92 [[ 9.27031547e-01 3.68463720e-01 6.96203890e-02 1.13434993e+02] [-3.67634264e-01 9.29638589e-01 -2.48423205e-02 -2.19369829e+01] [-7.38752941e-02 -2.56522569e-03 9.97264188e-01 -1.19201837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.277719421 meters 0.05955981467467898 Centerline is valid? [True, True] Translation: X:113.46, Y:-21.95, Z:-11.92 [[ 9.25229218e-01 3.73071621e-01 6.90540271e-02 1.13464996e+02] [-3.72267765e-01 9.27798012e-01 -2.46487485e-02 -2.19459805e+01] [-7.32639376e-02 -2.90084603e-03 9.97308368e-01 -1.19213371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.307719421 meters 0.06106834111412517 Centerline is valid? [True, True] Translation: X:113.50, Y:-21.95, Z:-11.92 [[ 9.23143641e-01 3.78136432e-01 6.94165487e-02 1.13495410e+02] [-3.77338049e-01 9.25743940e-01 -2.47821282e-02 -2.19529757e+01] [-7.36329748e-02 -3.31604097e-03 9.97279895e-01 -1.19228177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.337719421 meters 0.06447201634240651 Centerline is valid? [True, True] Translation: X:113.53, Y:-21.96, Z:-11.93 [[ 9.22516630e-01 3.79379180e-01 7.09542512e-02 1.13527599e+02] [-3.78549171e-01 9.25234675e-01 -2.53243139e-02 -2.19565468e+01] [-7.52568510e-02 -3.49757228e-03 9.97158048e-01 -1.19292622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36771942099999 meters 0.061984143378076687 Centerline is valid? [True, True] Translation: X:113.56, Y:-21.97, Z:-11.93 [[ 9.21883387e-01 3.80444412e-01 7.34375254e-02 1.13556344e+02] [-3.79556376e-01 9.24796450e-01 -2.62389600e-02 -2.19727672e+01] [-7.78972285e-02 -3.68441971e-03 9.96954586e-01 -1.19270924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39771942099999 meters 0.06429944064583475 Centerline is valid? [True, True] Translation: X:113.59, Y:-21.98, Z:-11.93 [[ 9.21489421e-01 3.81293843e-01 7.39746787e-02 1.13586700e+02] [-3.80393481e-01 9.24446248e-01 -2.64562724e-02 -2.19790189e+01] [-7.84732280e-02 -3.76031043e-03 9.96909130e-01 -1.19325060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42771942099999 meters 0.06239887634563483 Centerline is valid? [True, True] Translation: X:113.61, Y:-21.99, Z:-11.94 [[ 9.21531732e-01 3.81562409e-01 7.20374610e-02 1.13614890e+02] [-3.80707862e-01 9.24335816e-01 -2.57841594e-02 -2.19948300e+01] [-7.64250713e-02 -3.66430663e-03 9.97068594e-01 -1.19375191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.457719421 meters 0.06345375612085064 Centerline is valid? [True, True] Translation: X:113.64, Y:-22.01, Z:-11.94 [[ 9.21189791e-01 3.82515799e-01 7.13514749e-02 1.13642577e+02] [-3.81678477e-01 9.23941602e-01 -2.55628008e-02 -2.20073761e+01] [-7.57027712e-02 -3.68513121e-03 9.97123618e-01 -1.19438351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.487719421 meters 0.06389751460439878 Centerline is valid? [True, True] Translation: X:113.67, Y:-22.02, Z:-11.95 [[ 9.20917668e-01 3.83289271e-01 7.07105593e-02 1.13671339e+02] [-3.82467591e-01 9.23620963e-01 -2.53546687e-02 -2.20204783e+01] [-7.50279273e-02 -3.69493491e-03 9.97174587e-01 -1.19471201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.517719421 meters 0.06322591391357807 Centerline is valid? [True, True] Translation: X:113.70, Y:-22.04, Z:-11.95 [[ 9.21706379e-01 3.81327827e-01 7.10382958e-02 1.13696892e+02] [-3.80490520e-01 9.24433158e-01 -2.55010068e-02 -2.20371337e+01] [-7.53943996e-02 -3.52495748e-03 9.97147561e-01 -1.19516176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.547719421 meters 0.06347725448451455 Centerline is valid? [True, True] Translation: X:113.73, Y:-22.05, Z:-11.96 [[ 9.22050019e-01 3.80433308e-01 7.13740955e-02 1.13725513e+02] [-3.79585565e-01 9.24801846e-01 -2.56192064e-02 -2.20491321e+01] [-7.57532947e-02 -3.47038664e-03 9.97120552e-01 -1.19565473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.577719421 meters 0.06336059219408052 Centerline is valid? [True, True] Translation: X:113.75, Y:-22.07, Z:-11.96 [[ 9.22233634e-01 3.80006427e-01 7.12758029e-02 1.13753491e+02] [-3.79159010e-01 9.24977518e-01 -2.55936819e-02 -2.20654120e+01] [-7.56542789e-02 -3.42150860e-03 9.97128238e-01 -1.19589611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.607719421 meters 0.06360645568738658 Centerline is valid? [True, True] Translation: X:113.78, Y:-22.08, Z:-11.96 [[ 9.22026194e-01 3.80505267e-01 7.12982384e-02 1.13783767e+02] [-3.79657178e-01 9.24772341e-01 -2.56231161e-02 -2.20783648e+01] [-7.56843695e-02 -3.44370376e-03 9.97125878e-01 -1.19622195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.637719421 meters 0.06475354457815927 Centerline is valid? [True, True] Translation: X:113.81, Y:-22.09, Z:-11.96 [[ 9.20978880e-01 3.82719850e-01 7.29617636e-02 1.13813258e+02] [-3.81836378e-01 9.23857101e-01 -2.62495196e-02 -2.20896652e+01] [-7.74524556e-02 -3.68420240e-03 9.96989240e-01 -1.19647839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.667719421 meters 0.06275525345480047 Centerline is valid? [True, True] Translation: X:113.84, Y:-22.11, Z:-11.97 [[ 9.20216076e-01 3.84468987e-01 7.33891741e-02 1.13841919e+02] [-3.83579065e-01 9.23129942e-01 -2.64236710e-02 -2.21063439e+01] [-7.79068261e-02 -3.83506399e-03 9.96953268e-01 -1.19652299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.697719421 meters 0.06981202634856103 Centerline is valid? [True, True] Translation: X:113.87, Y:-22.11, Z:-11.97 [[ 9.17621491e-01 3.90995653e-01 7.13666534e-02 1.13872256e+02] [-3.90171331e-01 9.20382770e-01 -2.57271959e-02 -2.21082007e+01] [-7.57438599e-02 -4.23739432e-03 9.97118304e-01 -1.19726191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72771942099999 meters 0.07277225357070827 Centerline is valid? [True, True] Translation: X:113.90, Y:-22.11, Z:-11.98 [[ 9.16070015e-01 3.94804240e-01 7.03231101e-02 1.13900546e+02] [-3.94015066e-01 9.18754314e-01 -2.53502921e-02 -2.21148472e+01] [-7.46180636e-02 -4.48572240e-03 9.97202097e-01 -1.19772353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75771942099999 meters 0.07216878966980371 Centerline is valid? [True, True] Translation: X:113.93, Y:-22.13, Z:-11.98 [[ 9.13313993e-01 4.01183951e-01 7.00641666e-02 1.13928538e+02] [-4.00419311e-01 9.15983923e-01 -2.52552711e-02 -2.21281626e+01] [-7.43096596e-02 -4.98905280e-03 9.97222735e-01 -1.19786614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78771942099999 meters 0.07251355797782585 Centerline is valid? [True, True] Translation: X:113.96, Y:-22.14, Z:-11.98 [[ 9.12274915e-01 4.03348012e-01 7.11678366e-02 1.13957969e+02] [-4.02566091e-01 9.15031578e-01 -2.56467195e-02 -2.21397360e+01] [-7.54653711e-02 -5.25289897e-03 9.97134587e-01 -1.19806140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81771942099999 meters 0.07343135751983111 Centerline is valid? [True, True] Translation: X:113.99, Y:-22.15, Z:-11.98 [[ 9.11321201e-01 4.04658401e-01 7.57974029e-02 1.13986713e+02] [-4.03773797e-01 9.14450225e-01 -2.73405752e-02 -2.21538661e+01] [-8.03765456e-02 -5.68895929e-03 9.96748337e-01 -1.19787684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.847719421 meters 0.07053872629261933 Centerline is valid? [True, True] Translation: X:114.01, Y:-22.17, Z:-11.98 [[ 9.12668333e-01 4.01655431e-01 7.55607634e-02 1.14012059e+02] [-4.00763795e-01 9.15775061e-01 -2.72840292e-02 -2.21749830e+01] [-8.01554412e-02 -5.38074884e-03 9.96767853e-01 -1.19806576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.877719421 meters 0.07013675037279798 Centerline is valid? [True, True] Translation: X:114.04, Y:-22.19, Z:-11.99 [[ 9.13581674e-01 3.99903448e-01 7.37953698e-02 1.14039313e+02] [-3.99047498e-01 9.16543050e-01 -2.66445456e-02 -2.21896681e+01] [-7.82918790e-02 -5.10588910e-03 9.96917405e-01 -1.19862212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.907719421 meters 0.06707313955517136 Centerline is valid? [True, True] Translation: X:114.06, Y:-22.21, Z:-11.99 [[ 9.15474182e-01 3.95509710e-01 7.40208836e-02 1.14064114e+02] [-3.94632806e-01 9.18449627e-01 -2.67438114e-02 -2.22113271e+01] [-7.85618900e-02 -4.72780014e-03 9.96898028e-01 -1.19899949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.937719421 meters 0.06611540962137344 Centerline is valid? [True, True] Translation: X:114.09, Y:-22.23, Z:-11.99 [[ 9.16201389e-01 3.93536033e-01 7.55275167e-02 1.14091550e+02] [-3.92616296e-01 9.19297426e-01 -2.72889562e-02 -2.22264511e+01] [-8.01714393e-02 -4.65115420e-03 9.96770238e-01 -1.19927515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.967719421 meters 0.06276360649363642 Centerline is valid? [True, True] Translation: X:114.11, Y:-22.25, Z:-11.99 [[ 9.19246431e-01 3.86023990e-01 7.72753414e-02 1.14114794e+02] [-3.85034231e-01 9.22479705e-01 -2.79255103e-02 -2.22489596e+01] [-8.20648510e-02 -4.08322603e-03 9.96618627e-01 -1.19942111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.997719421 meters 0.06123060264829166 Centerline is valid? [True, True] Translation: X:114.14, Y:-22.27, Z:-12.00 [[ 9.20784256e-01 3.82396093e-01 7.70037825e-02 1.14142131e+02] [-3.81400938e-01 9.23990891e-01 -2.78236743e-02 -2.22666034e+01] [-8.17904580e-02 -3.74971369e-03 9.96642494e-01 -1.19968332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.027719421 meters 0.05783159575583039 Centerline is valid? [True, True] Translation: X:114.17, Y:-22.29, Z:-12.00 [[ 9.24066471e-01 3.74685725e-01 7.55762251e-02 1.14166258e+02] [-3.73700646e-01 9.27147026e-01 -2.73170257e-02 -2.22899853e+01] [-8.03055719e-02 -3.00013665e-03 9.96765777e-01 -1.20008694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.057719421 meters 0.057091949653783405 Centerline is valid? [True, True] Translation: X:114.19, Y:-22.30, Z:-12.01 [[ 9.25747827e-01 3.70756028e-01 7.43702167e-02 1.14193328e+02] [-3.69789410e-01 9.28726617e-01 -2.68823929e-02 -2.23047954e+01] [-7.90364090e-02 -2.61500179e-03 9.96868300e-01 -1.20062052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.087719421 meters 0.05460265662002989 Centerline is valid? [True, True] Translation: X:114.22, Y:-22.33, Z:-12.01 [[ 9.28875921e-01 3.62623966e-01 7.54545113e-02 1.14216287e+02] [-3.61601652e-01 9.31933514e-01 -2.72794736e-02 -2.23275982e+01] [-8.02107788e-02 -1.94522981e-03 9.96776027e-01 -1.20082168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11771942099999 meters 0.053472020671344545 Centerline is valid? [True, True] Translation: X:114.24, Y:-22.34, Z:-12.01 [[ 9.30171256e-01 3.58977818e-01 7.69178818e-02 1.14244115e+02] [-3.57903244e-01 9.33344605e-01 -2.78049661e-02 -2.23438976e+01] [-8.17722561e-02 -1.66577925e-03 9.96649649e-01 -1.20096567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14771942099999 meters 0.05190096927360056 Centerline is valid? [True, True] Translation: X:114.27, Y:-22.36, Z:-12.01 [[ 9.31791417e-01 3.54187681e-01 7.94722751e-02 1.14271539e+02] [-3.53022542e-01 9.35173484e-01 -2.87339485e-02 -2.23618470e+01] [-8.44975750e-02 -1.28145804e-03 9.96422861e-01 -1.20091035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17771942099999 meters 0.051636116276581476 Centerline is valid? [True, True] Translation: X:114.30, Y:-22.38, Z:-12.01 [[ 9.32433679e-01 3.52407402e-01 7.98527192e-02 1.14301267e+02] [-3.51224197e-01 9.35846015e-01 -2.88755695e-02 -2.23750323e+01] [-8.49058135e-02 -1.12165368e-03 9.96388350e-01 -1.20121355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.207719421 meters 0.051564533234084386 Centerline is valid? [True, True] Translation: X:114.33, Y:-22.39, Z:-12.02 [[ 9.33413375e-01 3.50325444e-01 7.75342181e-02 1.14329332e+02] [-3.49201753e-01 9.36627614e-01 -2.80508055e-02 -2.23867160e+01] [-8.24476006e-02 -8.92087892e-04 9.96595002e-01 -1.20181511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.237719421 meters 0.051590732980377786 Centerline is valid? [True, True] Translation: X:114.36, Y:-22.40, Z:-12.02 [[ 9.33463415e-01 3.50438069e-01 7.64147460e-02 1.14359631e+02] [-3.49346126e-01 9.36585494e-01 -2.76567594e-02 -2.23966715e+01] [-8.12609240e-02 -8.78622467e-04 9.96692475e-01 -1.20227323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.267719421 meters 0.05193445865780219 Centerline is valid? [True, True] Translation: X:114.39, Y:-22.41, Z:-12.03 [[ 9.33336361e-01 3.51088926e-01 7.49653437e-02 1.14388956e+02] [-3.50037937e-01 9.36341696e-01 -2.71600958e-02 -2.24050841e+01] [-7.97287860e-02 -8.91209247e-04 9.96816195e-01 -1.20275955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.297719421 meters 0.05141668308176539 Centerline is valid? [True, True] Translation: X:114.42, Y:-22.42, Z:-12.03 [[ 9.33978638e-01 3.49418473e-01 7.47705522e-02 1.14418449e+02] [-3.48366809e-01 9.36966481e-01 -2.70994256e-02 -2.24180354e+01] [-7.95265411e-02 -7.37294114e-04 9.96832476e-01 -1.20282675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.327719421 meters 0.05112691789761559 Centerline is valid? [True, True] Translation: X:114.45, Y:-22.43, Z:-12.03 [[ 9.34864908e-01 3.46837788e-01 7.57043714e-02 1.14448452e+02] [-3.45749083e-01 9.37924997e-01 -2.74640240e-02 -2.24293549e+01] [-8.05305836e-02 -4.99564691e-04 9.96752013e-01 -1.20316823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.357719421 meters 0.05112691789761559 Centerline is valid? [True, True] Translation: X:114.48, Y:-22.44, Z:-12.04 [[ 9.34744934e-01 3.47162731e-01 7.56964069e-02 1.14478684e+02] [-3.46073313e-01 9.37804769e-01 -2.74859557e-02 -2.24405808e+01] [-8.05305508e-02 -5.04148516e-04 9.96752013e-01 -1.20350115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.387719421 meters 0.05093981785576969 Centerline is valid? [True, True] Translation: X:114.51, Y:-22.45, Z:-12.04 [[ 9.36807573e-01 3.41317351e-01 7.67726333e-02 1.14507350e+02] [-3.40174406e-01 9.39948118e-01 -2.79089346e-02 -2.24516748e+01] [-8.16880959e-02 2.92163031e-05 9.96657942e-01 -1.20374899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.417719421 meters 0.051019867273435396 Centerline is valid? [True, True] Translation: X:114.54, Y:-22.46, Z:-12.04 [[ 9.37465220e-01 3.39384870e-01 7.73102252e-02 1.14537965e+02] [-3.38217351e-01 9.40647575e-01 -2.81276062e-02 -2.24641103e+01] [-8.22677599e-02 2.20992933e-04 9.96610238e-01 -1.20402778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.447719421 meters 0.05133424361008684 Centerline is valid? [True, True] Translation: X:114.57, Y:-22.48, Z:-12.04 [[ 9.38637320e-01 3.36070446e-01 7.75669826e-02 1.14568286e+02] [-3.34881325e-01 9.41836696e-01 -2.82513028e-02 -2.24760618e+01] [-8.25498585e-02 5.41993211e-04 9.96586789e-01 -1.20422893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47771942099999 meters 0.051192444429841104 Centerline is valid? [True, True] Translation: X:114.60, Y:-22.48, Z:-12.04 [[ 9.38726668e-01 3.35654912e-01 7.82816951e-02 1.14598609e+02] [-3.34439426e-01 9.41984820e-01 -2.85459328e-02 -2.24847580e+01] [-8.33217510e-02 6.16343240e-04 9.96522506e-01 -1.20441556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50771942099999 meters 0.0508803383801105 Centerline is valid? [True, True] Translation: X:114.63, Y:-22.48, Z:-12.05 [[ 9.37590174e-01 3.38537131e-01 7.94813019e-02 1.14632563e+02] [-3.37293271e-01 9.40952957e-01 -2.89962271e-02 -2.24848255e+01] [-8.46044657e-02 3.78069271e-04 9.96414543e-01 -1.20475255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53771942099999 meters 0.05089157155310681 Centerline is valid? [True, True] Translation: X:114.67, Y:-22.48, Z:-12.05 [[ 9.34976079e-01 3.46420208e-01 7.62415280e-02 1.14666758e+02] [-3.45299810e-01 9.38079395e-01 -2.78404242e-02 -2.24788077e+01] [-8.11650920e-02 -2.96054500e-04 9.96700627e-01 -1.20547130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56771942099999 meters 0.05127326041821031 Centerline is valid? [True, True] Translation: X:114.70, Y:-22.48, Z:-12.06 [[ 9.32816097e-01 3.52283418e-01 7.58321973e-02 1.14699721e+02] [-3.51192824e-01 9.35893038e-01 -2.77095915e-02 -2.24813567e+01] [-8.07324552e-02 -7.83770445e-04 9.96735500e-01 -1.20571550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.597719421 meters 0.05198202806935302 Centerline is valid? [True, True] Translation: X:114.73, Y:-22.48, Z:-12.06 [[ 9.30963340e-01 3.57398672e-01 7.46555311e-02 1.14732256e+02] [-3.56355751e-01 9.33951174e-01 -2.73090193e-02 -2.24840282e+01] [-7.94848282e-02 -1.18023201e-03 9.96835377e-01 -1.20613063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.627719421 meters 0.05414366963128619 Centerline is valid? [True, True] Translation: X:114.77, Y:-22.48, Z:-12.07 [[ 9.27717564e-01 3.66282766e-01 7.19517742e-02 1.14765857e+02] [-3.65339523e-01 9.30501743e-01 -2.63351345e-02 -2.24786909e+01] [-7.65973571e-02 -1.85526008e-03 9.97060381e-01 -1.20687263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.657719421 meters 0.056167933432199245 Centerline is valid? [True, True] Translation: X:114.80, Y:-22.48, Z:-12.08 [[ 9.26569718e-01 3.69655819e-01 6.94487772e-02 1.14796896e+02] [-3.68786233e-01 9.29166483e-01 -2.54236499e-02 -2.24792166e+01] [-7.39274762e-02 -2.05496874e-03 9.97261503e-01 -1.20771917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.687719421 meters 0.05821670191515316 Centerline is valid? [True, True] Translation: X:114.83, Y:-22.48, Z:-12.08 [[ 9.24693922e-01 3.74399254e-01 6.90387533e-02 1.14830531e+02] [-3.73553168e-01 9.27264439e-01 -2.52723314e-02 -2.24777031e+01] [-7.34791228e-02 -2.42047377e-03 9.97293818e-01 -1.20835966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.717719421 meters 0.058542624320934725 Centerline is valid? [True, True] Translation: X:114.86, Y:-22.48, Z:-12.09 [[ 9.24071768e-01 3.76170294e-01 6.77294497e-02 1.14861534e+02] [-3.75361077e-01 9.26547127e-01 -2.47887869e-02 -2.24844411e+01] [-7.20793322e-02 -2.51638100e-03 9.97395728e-01 -1.20871078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.747719421 meters 0.059352071502385396 Centerline is valid? [True, True] Translation: X:114.89, Y:-22.49, Z:-12.09 [[ 9.23990656e-01 3.76489808e-01 6.70573849e-02 1.14891154e+02] [-3.75696008e-01 9.26417393e-01 -2.45626328e-02 -2.24939319e+01] [-7.13707086e-02 -2.49754858e-03 9.97446733e-01 -1.20915162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.777719421 meters 0.058478677789233276 Centerline is valid? [True, True] Translation: X:114.92, Y:-22.51, Z:-12.09 [[ 9.23558476e-01 3.77720608e-01 6.60824083e-02 1.14921033e+02] [-3.76951585e-01 9.25916143e-01 -2.42239505e-02 -2.25065487e+01] [-7.03366539e-02 -2.53763378e-03 9.97520083e-01 -1.20933011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.807719421 meters 0.0587786926873284 Centerline is valid? [True, True] Translation: X:114.95, Y:-22.52, Z:-12.10 [[ 9.23096020e-01 3.78892960e-01 6.58320831e-02 1.14951273e+02] [-3.78131219e-01 9.25436859e-01 -2.41537005e-02 -2.25162280e+01] [-7.00751033e-02 -2.59698097e-03 9.97538338e-01 -1.20967683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.837719421 meters 0.05954096970894287 Centerline is valid? [True, True] Translation: X:114.98, Y:-22.52, Z:-12.10 [[ 9.22167566e-01 3.80720906e-01 6.82537322e-02 1.14981700e+02] [-3.79904990e-01 9.24685725e-01 -2.50700859e-02 -2.25236277e+01] [-7.26579576e-02 -2.81111334e-03 9.97352956e-01 -1.20984566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86771942099999 meters 0.06040420147532153 Centerline is valid? [True, True] Translation: X:115.01, Y:-22.53, Z:-12.10 [[ 9.21653258e-01 3.81855118e-01 6.88617528e-02 1.15011400e+02] [-3.81026770e-01 9.24217602e-01 -2.53066092e-02 -2.25319889e+01] [-7.33067023e-02 -2.91425252e-03 9.97305186e-01 -1.21017636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89771942099999 meters 0.06218066872157354 Centerline is valid? [True, True] Translation: X:115.04, Y:-22.54, Z:-12.11 [[ 9.20283906e-01 3.85218779e-01 6.84399327e-02 1.15041195e+02] [-3.84408617e-01 9.22819911e-01 -2.51679939e-02 -2.25384429e+01] [-7.28529164e-02 -3.14720008e-03 9.97337730e-01 -1.21051501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92771942099999 meters 0.06103956058506285 Centerline is valid? [True, True] Translation: X:115.07, Y:-22.55, Z:-12.11 [[ 9.19424847e-01 3.87138351e-01 6.91509061e-02 1.15070566e+02] [-3.86316732e-01 9.22015606e-01 -2.54284358e-02 -2.25523027e+01] [-7.36025373e-02 -3.33461639e-03 9.97282080e-01 -1.21055184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.957719421 meters 0.06412885208339772 Centerline is valid? [True, True] Translation: X:115.10, Y:-22.56, Z:-12.11 [[ 9.18447956e-01 3.89291301e-01 7.00402382e-02 1.15101480e+02] [-3.88454353e-01 9.21107858e-01 -2.57590473e-02 -2.25562779e+01] [-7.45423868e-02 -3.54909112e-03 9.97211530e-01 -1.21106616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.987719421 meters 0.06530321242814831 Centerline is valid? [True, True] Translation: X:115.13, Y:-22.57, Z:-12.11 [[ 9.18054434e-01 3.90121668e-01 7.05772007e-02 1.15130594e+02] [-3.89272466e-01 9.20756191e-01 -2.59804497e-02 -2.25651725e+01] [-7.51199308e-02 -3.62229389e-03 9.97167927e-01 -1.21144207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.017719421 meters 0.06241066922596427 Centerline is valid? [True, True] Translation: X:115.16, Y:-22.58, Z:-12.11 [[ 9.17151792e-01 3.91899845e-01 7.24368808e-02 1.15159047e+02] [-3.91009504e-01 9.19999820e-01 -2.66814318e-02 -2.25835159e+01] [-7.70983663e-02 -3.85258580e-03 9.97016048e-01 -1.21111623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.047719421 meters 0.06272020093496107 Centerline is valid? [True, True] Translation: X:115.19, Y:-22.60, Z:-12.11 [[ 9.16586423e-01 3.93194463e-01 7.25771525e-02 1.15188839e+02] [-3.92302766e-01 9.19446868e-01 -2.67581209e-02 -2.25950768e+01] [-7.72519805e-02 -3.94608735e-03 9.97003791e-01 -1.21135912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.077719421 meters 0.06491974960839757 Centerline is valid? [True, True] Translation: X:115.22, Y:-22.60, Z:-12.12 [[ 9.15848961e-01 3.95082787e-01 7.16259124e-02 1.15217690e+02] [-3.94217693e-01 9.18636713e-01 -2.64385925e-02 -2.26039995e+01] [-7.62436256e-02 -4.02244453e-03 9.97081105e-01 -1.21188010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.107719421 meters 0.06500548325251103 Centerline is valid? [True, True] Translation: X:115.25, Y:-22.62, Z:-12.12 [[ 9.15469400e-01 3.96121265e-01 7.07369867e-02 1.15247263e+02] [-3.95280902e-01 9.18189224e-01 -2.61066634e-02 -2.26164026e+01] [-7.52913435e-02 -4.06112850e-03 9.97153309e-01 -1.21239607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.137719421 meters 0.06805688111349904 Centerline is valid? [True, True] Translation: X:115.28, Y:-22.62, Z:-12.13 [[ 9.15068340e-01 3.97566393e-01 6.77561513e-02 1.15275005e+02] [-3.96797149e-01 9.17564801e-01 -2.50371265e-02 -2.26249807e+01] [-7.21245796e-02 -3.97476587e-03 9.97387711e-01 -1.21333098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.167719421 meters 0.06933141785955517 Centerline is valid? [True, True] Translation: X:115.30, Y:-22.64, Z:-12.14 [[ 9.14831691e-01 3.97868315e-01 6.91648779e-02 1.15302678e+02] [-3.97068161e-01 9.17433420e-01 -2.55498467e-02 -2.26390358e+01] [-7.36196450e-02 -4.08936144e-03 9.97278008e-01 -1.21367982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.197719421 meters 0.06734055390597114 Centerline is valid? [True, True] Translation: X:115.33, Y:-22.66, Z:-12.14 [[ 9.14540230e-01 3.98515453e-01 6.92935897e-02 1.15330769e+02] [-3.97712731e-01 9.17152313e-01 -2.56167609e-02 -2.26566361e+01] [-7.37614511e-02 -4.13138435e-03 9.97267356e-01 -1.21371523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22771942099999 meters 0.06732224793041273 Centerline is valid? [True, True] Translation: X:115.36, Y:-22.67, Z:-12.14 [[ 9.14437404e-01 3.98759734e-01 6.92452786e-02 1.15360750e+02] [-3.97957256e-01 9.17046143e-01 -2.56201757e-02 -2.26703317e+01] [-7.37174102e-02 -4.12861411e-03 9.97270624e-01 -1.21406815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25771942099999 meters 0.06751843390562912 Centerline is valid? [True, True] Translation: X:115.39, Y:-22.69, Z:-12.15 [[ 9.14803266e-01 3.98169390e-01 6.77946974e-02 1.15389194e+02] [-3.97396769e-01 9.17303309e-01 -2.51087087e-02 -2.26852676e+01] [-7.21858195e-02 -3.97186495e-03 9.97383292e-01 -1.21458105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28771942099999 meters 0.06723254106358642 Centerline is valid? [True, True] Translation: X:115.42, Y:-22.70, Z:-12.15 [[ 9.15201028e-01 3.97412405e-01 6.68614858e-02 1.15417802e+02] [-3.96657250e-01 9.17632095e-01 -2.47863969e-02 -2.26994518e+01] [-7.12046669e-02 -3.83655714e-03 9.97454348e-01 -1.21501154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31771942099999 meters 0.0649273110419347 Centerline is valid? [True, True] Translation: X:115.44, Y:-22.72, Z:-12.15 [[ 9.17111926e-01 3.92913648e-01 6.72649989e-02 1.15443027e+02] [-3.92135106e-01 9.19568787e-01 -2.49660922e-02 -2.27207635e+01] [-7.16643118e-02 -3.48026656e-03 9.97422736e-01 -1.21514854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.347719421 meters 0.06157524658460342 Centerline is valid? [True, True] Translation: X:115.47, Y:-22.74, Z:-12.15 [[ 9.19771546e-01 3.86216131e-01 6.96950751e-02 1.15468194e+02] [-3.85360937e-01 9.22403228e-01 -2.58695614e-02 -2.27428484e+01] [-7.42782042e-02 -3.06367296e-03 9.97232853e-01 -1.21509647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.377719421 meters 0.06056590820334722 Centerline is valid? [True, True] Translation: X:115.50, Y:-22.76, Z:-12.15 [[ 9.21095325e-01 3.82953590e-01 7.02135985e-02 1.15495434e+02] [-3.82076048e-01 9.23763279e-01 -2.60633607e-02 -2.27574262e+01] [-7.48418015e-02 -2.82009452e-03 9.97191432e-01 -1.21542073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.407719421 meters 0.05782065526796266 Centerline is valid? [True, True] Translation: X:115.52, Y:-22.78, Z:-12.15 [[ 9.22334950e-01 3.79718387e-01 7.14995644e-02 1.15522473e+02] [-3.78798458e-01 9.25098468e-01 -2.65433914e-02 -2.27766007e+01] [-7.62231513e-02 -2.60202721e-03 9.97087389e-01 -1.21536674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.437719421 meters 0.05510985919403635 Centerline is valid? [True, True] Translation: X:115.55, Y:-22.80, Z:-12.16 [[ 9.25457073e-01 3.71810553e-01 7.27056967e-02 1.15546027e+02] [-3.70834328e-01 9.28306526e-01 -2.69980454e-02 -2.27976730e+01] [-7.75313310e-02 -1.97623603e-03 9.96987957e-01 -1.21559956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.467719421 meters 0.05397064190100764 Centerline is valid? [True, True] Translation: X:115.57, Y:-22.81, Z:-12.16 [[ 9.27047858e-01 3.67776057e-01 7.29591727e-02 1.15573668e+02] [-3.66780612e-01 9.29912934e-01 -2.70909291e-02 -2.28131665e+01] [-7.78090734e-02 -1.64542218e-03 9.96966921e-01 -1.21602414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.497719421 meters 0.05294581903907976 Centerline is valid? [True, True] Translation: X:115.60, Y:-22.83, Z:-12.17 [[ 9.29717131e-01 3.61429734e-01 7.06725128e-02 1.15600791e+02] [-3.60477726e-01 9.32398722e-01 -2.62379944e-02 -2.28302937e+01] [-7.53781519e-02 -1.08195377e-03 9.97154433e-01 -1.21682866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.527719421 meters 0.052757955013039065 Centerline is valid? [True, True] Translation: X:115.63, Y:-22.85, Z:-12.17 [[ 9.30960526e-01 3.58782839e-01 6.77301516e-02 1.15628992e+02] [-3.57900073e-01 9.33420706e-01 -2.51659143e-02 -2.28474230e+01] [-7.22498241e-02 -8.12153430e-04 9.97386236e-01 -1.21708913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.557719421 meters 0.05283073284726893 Centerline is valid? [True, True] Translation: X:115.66, Y:-22.86, Z:-12.18 [[ 9.31400935e-01 3.57569187e-01 6.80924054e-02 1.15656824e+02] [-3.56671725e-01 9.33886391e-01 -2.53276282e-02 -2.28598016e+01] [-7.26469502e-02 -6.96459139e-04 9.97357476e-01 -1.21755178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.587719421 meters 0.05179861126886988 Centerline is valid? [True, True] Translation: X:115.69, Y:-22.88, Z:-12.17 [[ 9.32187312e-01 3.55344959e-01 6.89693834e-02 1.15685358e+02] [-3.54417430e-01 9.34735090e-01 -2.56631356e-02 -2.28764237e+01] [-7.35873687e-02 -5.21102293e-04 9.97288638e-01 -1.21712031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61771942099999 meters 0.05193164068028092 Centerline is valid? [True, True] Translation: X:115.71, Y:-22.89, Z:-12.18 [[ 9.32370036e-01 3.54937092e-01 6.85986670e-02 1.15714940e+02] [-3.54016738e-01 9.34890071e-01 -2.55480912e-02 -2.28871825e+01] [-7.32001778e-02 -4.64801581e-04 9.97317160e-01 -1.21773261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64771942099999 meters 0.052038942366645954 Centerline is valid? [True, True] Translation: X:115.75, Y:-22.90, Z:-12.18 [[ 9.32604813e-01 3.54469433e-01 6.78209623e-02 1.15745320e+02] [-3.53566787e-01 9.35067517e-01 -2.52837039e-02 -2.28970292e+01] [-7.23794790e-02 -3.99535823e-04 9.97377086e-01 -1.21835647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67771942099999 meters 0.051860685108934164 Centerline is valid? [True, True] Translation: X:115.78, Y:-22.91, Z:-12.18 [[ 9.32068598e-01 3.55652749e-01 6.89873226e-02 1.15776060e+02] [-3.54720267e-01 9.34618047e-01 -2.57417594e-02 -2.29056972e+01] [-7.36319242e-02 -4.78115909e-04 9.97285371e-01 -1.21849703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.707719421 meters 0.05180294220948941 Centerline is valid? [True, True] Translation: X:115.81, Y:-22.92, Z:-12.19 [[ 9.31975075e-01 3.55697514e-01 7.00124143e-02 1.15805498e+02] [-3.54735385e-01 9.34601017e-01 -2.61485358e-02 -2.29178944e+01] [-7.47346428e-02 -4.66097130e-04 9.97203347e-01 -1.21863210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.737719421 meters 0.05144278971722567 Centerline is valid? [True, True] Translation: X:115.83, Y:-22.93, Z:-12.19 [[ 9.31907482e-01 3.55621490e-01 7.12867547e-02 1.15834744e+02] [-3.54621786e-01 9.34629958e-01 -2.66501471e-02 -2.29294759e+01] [-7.61041016e-02 -4.44364788e-04 9.97099778e-01 -1.21861719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.767719421 meters 0.05154292401378405 Centerline is valid? [True, True] Translation: X:115.87, Y:-22.93, Z:-12.19 [[ 9.30799640e-01 3.58584028e-01 7.09191512e-02 1.15867818e+02] [-3.57601561e-01 9.33497218e-01 -2.65342733e-02 -2.29322567e+01] [-7.57175970e-02 -6.62707189e-04 9.97129082e-01 -1.21909890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.797719421 meters 0.051945653910487714 Centerline is valid? [True, True] Translation: X:115.90, Y:-22.94, Z:-12.20 [[ 9.29888768e-01 3.60965498e-01 7.07869177e-02 1.15899064e+02] [-3.59991708e-01 9.32578799e-01 -2.65094846e-02 -2.29366271e+01] [-7.55833880e-02 -8.31831416e-04 9.97139137e-01 -1.21973527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.827719421 meters 0.052970617521846224 Centerline is valid? [True, True] Translation: X:115.93, Y:-22.94, Z:-12.20 [[ 9.28288601e-01 3.65375793e-01 6.91433484e-02 1.15931537e+02] [-3.64457393e-01 9.30859400e-01 -2.59149682e-02 -2.29390631e+01] [-7.38314379e-02 -1.14323492e-03 9.97270080e-01 -1.22026458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.857719421 meters 0.05286142576767512 Centerline is valid? [True, True] Translation: X:115.96, Y:-22.95, Z:-12.20 [[ 9.27420187e-01 3.67471743e-01 6.96872592e-02 1.15962903e+02] [-3.66543302e-01 9.30033774e-01 -2.61378396e-02 -2.29510093e+01] [-7.44164222e-02 -1.30263795e-03 9.97226403e-01 -1.22018207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.887719421 meters 0.0535488553594442 Centerline is valid? [True, True] Translation: X:115.99, Y:-22.96, Z:-12.21 [[ 9.26384407e-01 3.69732975e-01 7.14804668e-02 1.15994299e+02] [-3.68760392e-01 9.29136856e-01 -2.68416942e-02 -2.29561448e+01] [-7.63393957e-02 -1.49343796e-03 9.97080772e-01 -1.22054679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.917719421 meters 0.05410940344668058 Centerline is valid? [True, True] Translation: X:116.03, Y:-22.96, Z:-12.21 [[ 9.24515897e-01 3.74176595e-01 7.25412414e-02 1.16028495e+02] [-3.73186741e-01 9.27355591e-01 -2.72628769e-02 -2.29563613e+01] [-7.74726562e-02 -1.86646631e-03 9.96992730e-01 -1.22088434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.947719421 meters 0.055257904785137646 Centerline is valid? [True, True] Translation: X:116.06, Y:-22.96, Z:-12.21 [[ 9.22922195e-01 3.78187705e-01 7.20325081e-02 1.16060857e+02] [-3.77221590e-01 9.25726415e-01 -2.71012446e-02 -2.29615790e+01] [-7.69317530e-02 -2.15987709e-03 9.97034022e-01 -1.22134748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97771942099999 meters 0.05972243786601274 Centerline is valid? [True, True] Translation: X:116.09, Y:-22.96, Z:-12.22 [[ 9.21127816e-01 3.82631533e-01 7.15308089e-02 1.16092756e+02] [-3.81691601e-01 9.23897630e-01 -2.69200941e-02 -2.29613249e+01] [-7.63876217e-02 -2.50586145e-03 9.97075048e-01 -1.22222267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00771942099999 meters 0.06117060489497792 Centerline is valid? [True, True] Translation: X:116.12, Y:-22.97, Z:-12.22 [[ 9.18914323e-01 3.88120745e-01 7.04184178e-02 1.16122167e+02] [-3.87225440e-01 9.21603939e-01 -2.65073283e-02 -2.29721885e+01] [-7.51859352e-02 -2.90983923e-03 9.97165286e-01 -1.22221176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03771942099999 meters 0.06018238005597619 Centerline is valid? [True, True] Translation: X:116.15, Y:-22.99, Z:-12.22 [[ 9.18306700e-01 3.89943251e-01 6.82426940e-02 1.16150505e+02] [-3.89107954e-01 9.20834100e-01 -2.56818943e-02 -2.29861970e+01] [-7.28546811e-02 -2.96991940e-03 9.97338145e-01 -1.22243019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06771942099999 meters 0.06109545181197985 Centerline is valid? [True, True] Translation: X:116.18, Y:-22.99, Z:-12.23 [[ 9.17772912e-01 3.91346337e-01 6.73863929e-02 1.16179823e+02] [-3.90533660e-01 9.20238525e-01 -2.53873333e-02 -2.29935880e+01] [-7.19467947e-02 -3.01684784e-03 9.97403909e-01 -1.22328178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.097719421 meters 0.06208717425287529 Centerline is valid? [True, True] Translation: X:116.21, Y:-23.00, Z:-12.24 [[ 9.17212805e-01 3.92777834e-01 6.66801582e-02 1.16210584e+02] [-3.91986238e-01 9.19628163e-01 -2.51163379e-02 -2.30031652e+01] [-7.11860922e-02 -3.10067760e-03 9.97458233e-01 -1.22376896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.127719421 meters 0.06383310731414593 Centerline is valid? [True, True] Translation: X:116.24, Y:-23.01, Z:-12.24 [[ 9.16169192e-01 3.95314611e-01 6.60330925e-02 1.16238927e+02] [-3.94542712e-01 9.18540080e-01 -2.49032234e-02 -2.30121023e+01] [-7.04986501e-02 -3.23730929e-03 9.97506622e-01 -1.22422406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.157719421 meters 0.06522144586379577 Centerline is valid? [True, True] Translation: X:116.27, Y:-23.03, Z:-12.24 [[ 9.15272634e-01 3.97336171e-01 6.63322959e-02 1.16267127e+02] [-3.96563153e-01 9.17666767e-01 -2.50073989e-02 -2.30251122e+01] [-7.08072877e-02 -3.41635658e-03 9.97484164e-01 -1.22446174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.187719421 meters 0.06577077324743795 Centerline is valid? [True, True] Translation: X:116.30, Y:-23.04, Z:-12.25 [[ 9.14777859e-01 3.98400136e-01 6.67742513e-02 1.16296432e+02] [-3.97618215e-01 9.17205021e-01 -2.51933322e-02 -2.30378629e+01] [-7.12827056e-02 -3.50435619e-03 9.97449996e-01 -1.22470775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.217719421 meters 0.06352227922049906 Centerline is valid? [True, True] Translation: X:116.33, Y:-23.06, Z:-12.24 [[ 9.13634884e-01 4.00519075e-01 6.96833529e-02 1.16325331e+02] [-3.99672018e-01 9.16280497e-01 -2.63121467e-02 -2.30573615e+01] [-7.43880139e-02 -3.81079119e-03 9.97222092e-01 -1.22438407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.247719421 meters 0.06352227922049906 Centerline is valid? [True, True] Translation: X:116.36, Y:-23.07, Z:-12.25 [[ 9.13500300e-01 4.00827478e-01 6.96744903e-02 1.16355484e+02] [-3.99979532e-01 9.16145628e-01 -2.63355897e-02 -2.30690045e+01] [-7.43880076e-02 -3.81080092e-03 9.97222093e-01 -1.22471760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.277719421 meters 0.06462606277175023 Centerline is valid? [True, True] Translation: X:116.39, Y:-23.08, Z:-12.25 [[ 9.12658569e-01 4.02318222e-01 7.20720753e-02 1.16386067e+02] [-4.01413190e-01 9.15490971e-01 -2.72714735e-02 -2.30789348e+01] [-7.69531449e-02 -4.04113773e-03 9.97026521e-01 -1.22494890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.307719421 meters 0.06456664506354119 Centerline is valid? [True, True] Translation: X:116.42, Y:-23.09, Z:-12.25 [[ 9.11679638e-01 4.04230589e-01 7.37418982e-02 1.16415447e+02] [-4.03287084e-01 9.14647123e-01 -2.79315023e-02 -2.30906528e+01] [-7.87385826e-02 -4.27457321e-03 9.96886134e-01 -1.22510939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.337719421 meters 0.06635393558283106 Centerline is valid? [True, True] Translation: X:116.44, Y:-23.10, Z:-12.25 [[ 9.10075445e-01 4.07634134e-01 7.48137566e-02 1.16442991e+02] [-4.06672008e-01 9.13133712e-01 -2.83672625e-02 -2.31041779e+01] [-7.98784278e-02 -4.60831160e-03 9.96793961e-01 -1.22534876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36771942099999 meters 0.06816621426306801 Centerline is valid? [True, True] Translation: X:116.47, Y:-23.12, Z:-12.26 [[ 9.08919813e-01 4.10450550e-01 7.34514779e-02 1.16470316e+02] [-4.09532215e-01 9.11870405e-01 -2.78519217e-02 -2.31200755e+01] [-7.84100655e-02 -4.76558297e-03 9.96909801e-01 -1.22575562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39771942099999 meters 0.06897129673913376 Centerline is valid? [True, True] Translation: X:116.50, Y:-23.13, Z:-12.26 [[ 9.08555405e-01 4.11251292e-01 7.34809633e-02 1.16499465e+02] [-4.10335036e-01 9.11509165e-01 -2.78603719e-02 -2.31337737e+01] [-7.84361854e-02 -4.83912221e-03 9.96907392e-01 -1.22617512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42771942099999 meters 0.06897590164425603 Centerline is valid? [True, True] Translation: X:116.53, Y:-23.15, Z:-12.26 [[ 9.08310423e-01 4.11723205e-01 7.38659489e-02 1.16528828e+02] [-4.10797032e-01 9.11295860e-01 -2.80295184e-02 -2.31495337e+01] [-7.88541366e-02 -4.88440888e-03 9.96874199e-01 -1.22643666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.457719421 meters 0.06761955231516278 Centerline is valid? [True, True] Translation: X:116.55, Y:-23.17, Z:-12.27 [[ 9.08272681e-01 4.11855039e-01 7.35945960e-02 1.16554637e+02] [-4.10933897e-01 9.11236458e-01 -2.79544161e-02 -2.31710485e+01] [-7.85752461e-02 -4.85228171e-03 9.96896377e-01 -1.22682858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.487719421 meters 0.0692897119408532 Centerline is valid? [True, True] Translation: X:116.58, Y:-23.18, Z:-12.27 [[ 9.07382962e-01 4.13873275e-01 7.32466521e-02 1.16581024e+02] [-4.12964959e-01 9.10320911e-01 -2.78528652e-02 -2.31846406e+01] [-7.82055156e-02 -4.97508529e-03 9.96924845e-01 -1.22738863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.517719421 meters 0.07012338718647565 Centerline is valid? [True, True] Translation: X:116.61, Y:-23.20, Z:-12.28 [[ 9.06841397e-01 4.15080113e-01 7.31244240e-02 1.16609976e+02] [-4.14178070e-01 9.09770777e-01 -2.78147478e-02 -2.31981307e+01] [-7.80718127e-02 -5.06296807e-03 9.96934882e-01 -1.22779164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.547719421 meters 0.0711937804587132 Centerline is valid? [True, True] Translation: X:116.64, Y:-23.21, Z:-12.28 [[ 9.06617141e-01 4.15694452e-01 7.24118888e-02 1.16638205e+02] [-4.14811729e-01 9.09490229e-01 -2.75454573e-02 -2.32116960e+01] [-7.73083991e-02 -5.06411702e-03 9.96994366e-01 -1.22820256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.577719421 meters 0.07067193310617952 Centerline is valid? [True, True] Translation: X:116.66, Y:-23.23, Z:-12.29 [[ 9.07066240e-01 4.15021742e-01 7.06242829e-02 1.16663481e+02] [-4.14178662e-01 9.09798484e-01 -2.68840998e-02 -2.32341604e+01] [-7.54113514e-02 -4.86541169e-03 9.97140640e-01 -1.22854589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.607719421 meters 0.07082684329212917 Centerline is valid? [True, True] Translation: X:116.69, Y:-23.25, Z:-12.29 [[ 9.07329008e-01 4.14442260e-01 7.06518503e-02 1.16690529e+02] [-4.13595117e-01 9.10062954e-01 -2.69165051e-02 -2.32499870e+01] [-7.54529688e-02 -4.79913441e-03 9.97137813e-01 -1.22885582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.637719421 meters 0.06885519370703139 Centerline is valid? [True, True] Translation: X:116.72, Y:-23.27, Z:-12.29 [[ 9.08687706e-01 4.11324451e-01 7.14062267e-02 1.16715975e+02] [-4.10447504e-01 9.11477569e-01 -2.72302607e-02 -2.32702640e+01] [-7.62856459e-02 -4.56470441e-03 9.97075556e-01 -1.22923577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.667719421 meters 0.06895720999702454 Centerline is valid? [True, True] Translation: X:116.74, Y:-23.28, Z:-12.30 [[ 9.09526857e-01 4.09307364e-01 7.23075289e-02 1.16743798e+02] [-4.08401690e-01 9.12385706e-01 -2.75750390e-02 -2.32831955e+01] [-7.72590223e-02 -4.45027848e-03 9.97001123e-01 -1.22977810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.697719421 meters 0.06655086644682585 Centerline is valid? [True, True] Translation: X:116.77, Y:-23.30, Z:-12.30 [[ 9.11562648e-01 4.04796129e-01 7.20668600e-02 1.16767927e+02] [-4.03882109e-01 9.14397993e-01 -2.74872952e-02 -2.33047090e+01] [-7.70245428e-02 -4.05012382e-03 9.97020971e-01 -1.23015751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72771942099999 meters 0.06552737445072392 Centerline is valid? [True, True] Translation: X:116.79, Y:-23.32, Z:-12.30 [[ 9.12574026e-01 4.02390461e-01 7.27362630e-02 1.16794932e+02] [-4.01451818e-01 9.15459903e-01 -2.77417454e-02 -2.33215176e+01] [-7.77501460e-02 -3.88370871e-03 9.96965311e-01 -1.23042569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75771942099999 meters 0.05992920505972055 Centerline is valid? [True, True] Translation: X:116.82, Y:-23.35, Z:-12.30 [[ 9.15108201e-01 3.96171168e-01 7.50025810e-02 1.16817422e+02] [-3.95151911e-01 9.18170169e-01 -2.86096003e-02 -2.33503355e+01] [-8.01994312e-02 -3.45653332e-03 9.96772845e-01 -1.23009110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78771942099999 meters 0.05766741795240485 Centerline is valid? [True, True] Translation: X:116.84, Y:-23.37, Z:-12.30 [[ 9.16430046e-01 3.92790140e-01 7.66281677e-02 1.16843403e+02] [-3.91714178e-01 9.19622472e-01 -2.92320340e-02 -2.33692572e+01] [-8.19510398e-02 -3.22722548e-03 9.96631131e-01 -1.23018396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81771942099999 meters 0.05741021939112395 Centerline is valid? [True, True] Translation: X:116.87, Y:-23.38, Z:-12.31 [[ 9.19201583e-01 3.86048546e-01 7.76850653e-02 1.16869569e+02] [-3.84918351e-01 9.22474633e-01 -2.96380470e-02 -2.33824918e+01] [-8.31042271e-02 -2.65906750e-03 9.96537313e-01 -1.23088113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.847719421 meters 0.05446519559802531 Centerline is valid? [True, True] Translation: X:116.90, Y:-23.40, Z:-12.31 [[ 9.20562560e-01 3.82687312e-01 7.81984217e-02 1.16895719e+02] [-3.81529961e-01 9.23874884e-01 -2.98343373e-02 -2.34018630e+01] [-8.36627801e-02 -2.37066690e-03 9.96491304e-01 -1.23099414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.877719421 meters 0.05254978166546632 Centerline is valid? [True, True] Translation: X:116.92, Y:-23.42, Z:-12.31 [[ 9.23177895e-01 3.75964931e-01 7.99558888e-02 1.16920583e+02] [-3.74729327e-01 9.26632151e-01 -3.05088367e-02 -2.34210778e+01] [-8.55599498e-02 -1.79673274e-03 9.96331404e-01 -1.23116876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.907719421 meters 0.05133167526345734 Centerline is valid? [True, True] Translation: X:116.95, Y:-23.44, Z:-12.31 [[ 9.24697431e-01 3.72389650e-01 7.91240114e-02 1.16947881e+02] [-3.71166878e-01 9.28075340e-01 -3.01879621e-02 -2.34399758e+01] [-8.46747284e-02 -1.45348123e-03 9.96407586e-01 -1.23125070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.937719421 meters 0.050451384206814616 Centerline is valid? [True, True] Translation: X:116.97, Y:-23.46, Z:-12.32 [[ 9.27953190e-01 3.64772445e-01 7.64456656e-02 1.16972991e+02] [-3.63603354e-01 9.31096429e-01 -2.91897397e-02 -2.34600468e+01] [-8.18258990e-02 -7.09188285e-04 9.96646386e-01 -1.23179217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.967719421 meters 0.050291838931710395 Centerline is valid? [True, True] Translation: X:117.00, Y:-23.47, Z:-12.32 [[ 9.29353566e-01 3.61353033e-01 7.56699010e-02 1.17001514e+02] [-3.60194555e-01 9.32428999e-01 -2.89144359e-02 -2.34738998e+01] [-8.10051291e-02 -3.84152193e-04 9.96713611e-01 -1.23228091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.997719421 meters 0.05009202034529836 Centerline is valid? [True, True] Translation: X:117.03, Y:-23.49, Z:-12.33 [[ 9.30932670e-01 3.57289250e-01 7.55563105e-02 1.17031592e+02] [-3.56118884e-01 9.33993786e-01 -2.88954849e-02 -2.34875304e+01] [-8.08931706e-02 -7.27809858e-06 9.96722777e-01 -1.23268116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.027719421 meters 0.05010154994074967 Centerline is valid? [True, True] Translation: X:117.06, Y:-23.50, Z:-12.33 [[ 9.31250470e-01 3.56321131e-01 7.62090178e-02 1.17060315e+02] [-3.55124836e-01 9.34363549e-01 -2.91737928e-02 -2.34984409e+01] [-8.16021672e-02 1.04393341e-04 9.96664977e-01 -1.23307647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.057719421 meters 0.05040732041640258 Centerline is valid? [True, True] Translation: X:117.09, Y:-23.51, Z:-12.34 [[ 9.32423236e-01 3.53529056e-01 7.48606404e-02 1.17088742e+02] [-3.52364101e-01 9.35423474e-01 -2.86786458e-02 -2.35114456e+01] [-8.01651349e-02 3.62433445e-04 9.96781531e-01 -1.23351988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.087719421 meters 0.050730867329847815 Centerline is valid? [True, True] Translation: X:117.12, Y:-23.53, Z:-12.34 [[ 9.33284146e-01 3.51461749e-01 7.38602899e-02 1.17117749e+02] [-3.50319496e-01 9.36202079e-01 -2.83181780e-02 -2.35253820e+01] [-7.91009133e-02 5.54207042e-04 9.96866460e-01 -1.23398019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11771942099999 meters 0.051579858840357436 Centerline is valid? [True, True] Translation: X:117.15, Y:-23.53, Z:-12.35 [[ 9.34683321e-01 3.48589401e-01 6.96600244e-02 1.17147122e+02] [-3.47564572e-01 9.37275224e-01 -2.67212097e-02 -2.35349336e+01] [-7.46053455e-02 7.64512468e-04 9.97212845e-01 -1.23461618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14771942099999 meters 0.051617721043437884 Centerline is valid? [True, True] Translation: X:117.18, Y:-23.54, Z:-12.35 [[ 9.34732071e-01 3.48486199e-01 6.95221122e-02 1.17179262e+02] [-3.47465399e-01 9.37313597e-01 -2.66649093e-02 -2.35421312e+01] [-7.44563739e-02 7.68017495e-04 9.97223976e-01 -1.23494273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17771942099999 meters 0.05150558210480382 Centerline is valid? [True, True] Translation: X:117.21, Y:-23.54, Z:-12.35 [[ 9.33538374e-01 3.51383484e-01 7.09630249e-02 1.17212282e+02] [-3.50325992e-01 9.36231443e-01 -2.72467161e-02 -2.35442220e+01] [-7.60118613e-02 5.75662894e-04 9.97106747e-01 -1.23510209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.207719421 meters 0.051036423058376267 Centerline is valid? [True, True] Translation: X:117.24, Y:-23.55, Z:-12.35 [[ 9.32247227e-01 3.54592614e-01 7.19665675e-02 1.17244340e+02] [-3.53512576e-01 9.35020835e-01 -2.76567656e-02 -2.35497408e+01] [-7.70971248e-02 3.41856371e-04 9.97023529e-01 -1.23514099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.237719421 meters 0.05140438432416139 Centerline is valid? [True, True] Translation: X:117.28, Y:-23.54, Z:-12.36 [[ 9.28783090e-01 3.63914604e-01 7.02006632e-02 1.17280435e+02] [-3.62911777e-01 9.31432232e-01 -2.70007503e-02 -2.35405112e+01] [-7.52131277e-02 -3.98807066e-04 9.97167401e-01 -1.23596750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.267719421 meters 0.053698576815146525 Centerline is valid? [True, True] Translation: X:117.32, Y:-23.53, Z:-12.36 [[ 9.23884972e-01 3.76047164e-01 7.08878557e-02 1.17319061e+02] [-3.75058375e-01 9.26599500e-01 -2.72870158e-02 -2.35270318e+01] [-7.59458566e-02 -1.37702011e-03 9.97110992e-01 -1.23628960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.297719421 meters 0.05353916116191922 Centerline is valid? [True, True] Translation: X:117.35, Y:-23.53, Z:-12.36 [[ 9.21427719e-01 3.81880881e-01 7.16794998e-02 1.17350773e+02] [-3.80885981e-01 9.24209679e-01 -2.76104881e-02 -2.35341119e+01] [-7.67908051e-02 -1.86064746e-03 9.97045491e-01 -1.23586254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.327719421 meters 0.05513113557477278 Centerline is valid? [True, True] Translation: X:117.38, Y:-23.54, Z:-12.36 [[ 9.19075272e-01 3.87533310e-01 7.15442353e-02 1.17383122e+02] [-3.86556988e-01 9.21852829e-01 -2.75872650e-02 -2.35372452e+01] [-7.66442399e-02 -2.30115098e-03 9.97055849e-01 -1.23606569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.357719421 meters 0.057973395963595964 Centerline is valid? [True, True] Translation: X:117.42, Y:-23.53, Z:-12.37 [[ 9.16258688e-01 3.94157060e-01 7.14858623e-02 1.17416623e+02] [-3.93202064e-01 9.19038682e-01 -2.75687705e-02 -2.35337544e+01] [-7.65646982e-02 -2.84826317e-03 9.97060547e-01 -1.23654186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.387719421 meters 0.05823164121225775 Centerline is valid? [True, True] Translation: X:117.45, Y:-23.54, Z:-12.37 [[ 9.15863567e-01 3.95014251e-01 7.18169077e-02 1.17449179e+02] [-3.94053511e-01 9.18670289e-01 -2.76898856e-02 -2.35410297e+01] [-7.69139588e-02 -2.93954727e-03 9.97033401e-01 -1.23702418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.417719421 meters 0.05827048459751215 Centerline is valid? [True, True] Translation: X:117.48, Y:-23.55, Z:-12.37 [[ 9.15779712e-01 3.95109761e-01 7.23588033e-02 1.17480808e+02] [-3.94132544e-01 9.18629202e-01 -2.79271753e-02 -2.35486641e+01] [-7.75052093e-02 -2.94381859e-03 9.96987601e-01 -1.23745681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.447719421 meters 0.058027091959333046 Centerline is valid? [True, True] Translation: X:117.51, Y:-23.56, Z:-12.38 [[ 9.16230481e-01 3.94269628e-01 7.12261653e-02 1.17509878e+02] [-3.93318524e-01 9.18990524e-01 -2.75128108e-02 -2.35619720e+01] [-7.63036367e-02 -2.80649430e-03 9.97080678e-01 -1.23779429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47771942099999 meters 0.05748917726538272 Centerline is valid? [True, True] Translation: X:117.54, Y:-23.58, Z:-12.38 [[ 9.17321776e-01 3.91965019e-01 6.98869385e-02 1.17537364e+02] [-3.91041034e-01 9.19976602e-01 -2.70177886e-02 -2.35780773e+01] [-7.48843763e-02 -2.54465483e-03 9.97188977e-01 -1.23809514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50771942099999 meters 0.05693250935892904 Centerline is valid? [True, True] Translation: X:117.57, Y:-23.59, Z:-12.38 [[ 9.17824531e-01 3.90911055e-01 6.91858190e-02 1.17566046e+02] [-3.90000908e-01 9.20425294e-01 -2.67688180e-02 -2.35915259e+01] [-7.41446047e-02 -2.41345443e-03 9.97244580e-01 -1.23847952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53771942099999 meters 0.056537004386720435 Centerline is valid? [True, True] Translation: X:117.59, Y:-23.60, Z:-12.39 [[ 9.18608773e-01 3.89051869e-01 6.92572455e-02 1.17594857e+02] [-3.88132642e-01 9.21213123e-01 -2.68222778e-02 -2.36026081e+01] [-7.42359407e-02 -2.24181801e-03 9.97238186e-01 -1.23912816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56771942099999 meters 0.05644629460237683 Centerline is valid? [True, True] Translation: X:117.62, Y:-23.61, Z:-12.40 [[ 9.18777917e-01 3.88672480e-01 6.91436385e-02 1.17624517e+02] [-3.87754530e-01 9.21373359e-01 -2.67872587e-02 -2.36139384e+01] [-7.41185768e-02 -2.19921732e-03 9.97247011e-01 -1.23964742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.597719421 meters 0.0566372202001647 Centerline is valid? [True, True] Translation: X:117.65, Y:-23.63, Z:-12.40 [[ 9.19434201e-01 3.87620362e-01 6.62661709e-02 1.17652898e+02] [-3.86773118e-01 9.21816916e-01 -2.56929484e-02 -2.36260312e+01] [-7.10443873e-02 -2.00699807e-03 9.97471136e-01 -1.24042158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.627719421 meters 0.05642568458193525 Centerline is valid? [True, True] Translation: X:117.68, Y:-23.64, Z:-12.41 [[ 9.19773751e-01 3.86917819e-01 6.56570491e-02 1.17682847e+02] [-3.86083117e-01 9.22112205e-01 -2.54736748e-02 -2.36406745e+01] [-7.03993851e-02 -1.91906076e-03 9.97517039e-01 -1.24066606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.657719421 meters 0.05358503942054925 Centerline is valid? [True, True] Translation: X:117.71, Y:-23.66, Z:-12.40 [[ 9.21910287e-01 3.81631297e-01 6.66256431e-02 1.17708188e+02] [-3.80755575e-01 9.24313412e-01 -2.58825947e-02 -2.36646590e+01] [-7.14605837e-02 -1.50665473e-03 9.97442287e-01 -1.24004782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.687719421 meters 0.05290699862708968 Centerline is valid? [True, True] Translation: X:117.74, Y:-23.68, Z:-12.40 [[ 9.23304073e-01 3.78252149e-01 6.65950471e-02 1.17736446e+02] [-3.77368815e-01 9.25701762e-01 -2.58655342e-02 -2.36807714e+01] [-7.14308463e-02 -1.24914095e-03 9.97444772e-01 -1.24026467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.717719421 meters 0.051828393344935685 Centerline is valid? [True, True] Translation: X:117.76, Y:-23.70, Z:-12.41 [[ 9.25596294e-01 3.72694184e-01 6.61101102e-02 1.17764364e+02] [-3.71807911e-01 9.27953887e-01 -2.56994315e-02 -2.36962407e+01] [-7.09251624e-02 -7.92963443e-04 9.97481324e-01 -1.24062942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.747719421 meters 0.05155077163160069 Centerline is valid? [True, True] Translation: X:117.79, Y:-23.71, Z:-12.41 [[ 9.26267731e-01 3.70780722e-01 6.74518048e-02 1.17794413e+02] [-3.69851261e-01 9.28720222e-01 -2.62448984e-02 -2.37079725e+01] [-7.23749575e-02 -6.37332534e-04 9.97377290e-01 -1.24095325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.777719421 meters 0.05127702742233288 Centerline is valid? [True, True] Translation: X:117.82, Y:-23.72, Z:-12.41 [[ 9.26940096e-01 3.68829617e-01 6.88968227e-02 1.17823772e+02] [-3.67852653e-01 9.29496902e-01 -2.68316159e-02 -2.37207229e+01] [-7.39356779e-02 -4.72578407e-04 9.97262900e-01 -1.24117349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.807719421 meters 0.051554391436168905 Centerline is valid? [True, True] Translation: X:117.85, Y:-23.74, Z:-12.41 [[ 9.28277913e-01 3.65736087e-01 6.73589761e-02 1.17852024e+02] [-3.64792493e-01 9.30718580e-01 -2.62556998e-02 -2.37361717e+01] [-7.22949075e-02 -1.99462589e-04 9.97383280e-01 -1.24148478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.837719421 meters 0.05195077982275894 Centerline is valid? [True, True] Translation: X:117.88, Y:-23.75, Z:-12.42 [[ 9.29586753e-01 3.62761219e-01 6.53664062e-02 1.17879288e+02] [-3.61863165e-01 9.31882125e-01 -2.55098971e-02 -2.37501930e+01] [-7.01677868e-02 5.99678005e-05 9.97535201e-01 -1.24183551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86771942099999 meters 0.052021420969122815 Centerline is valid? [True, True] Translation: X:117.91, Y:-23.76, Z:-12.42 [[ 9.29985242e-01 3.61851496e-01 6.47375049e-02 1.17908115e+02] [-3.60968814e-01 9.32235743e-01 -2.52593702e-02 -2.37627757e+01] [-6.94907568e-02 1.22621153e-04 9.97582588e-01 -1.24216274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89771942099999 meters 0.052116177349830727 Centerline is valid? [True, True] Translation: X:117.94, Y:-23.77, Z:-12.43 [[ 9.30498029e-01 3.60612041e-01 6.42835409e-02 1.17937430e+02] [-3.59737387e-01 9.32715874e-01 -2.51020072e-02 -2.37745808e+01] [-6.90103651e-02 2.32175167e-04 9.97615916e-01 -1.24254808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92771942099999 meters 0.052115109443518846 Centerline is valid? [True, True] Translation: X:117.97, Y:-23.78, Z:-12.43 [[ 9.31014407e-01 3.58891895e-01 6.63986625e-02 1.17967787e+02] [-3.57952583e-01 9.33379051e-01 -2.59518005e-02 -2.37828033e+01] [-7.12890115e-02 3.93927423e-04 9.97455624e-01 -1.24295271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.957719421 meters 0.05221002889348637 Centerline is valid? [True, True] Translation: X:118.00, Y:-23.79, Z:-12.43 [[ 9.31141361e-01 3.58197664e-01 6.83388512e-02 1.17997535e+02] [-3.57198877e-01 9.33645650e-01 -2.67350432e-02 -2.37932457e+01] [-7.33807011e-02 4.83543620e-04 9.97303885e-01 -1.24300645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.987719421 meters 0.052230674958454085 Centerline is valid? [True, True] Translation: X:118.03, Y:-23.81, Z:-12.43 [[ 9.31194389e-01 3.57948257e-01 6.89206467e-02 1.18027270e+02] [-3.56930120e-01 9.33741274e-01 -2.69837443e-02 -2.38060076e+01] [-7.40128367e-02 5.27256540e-04 9.97257149e-01 -1.24311834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.017719421 meters 0.05229229864616734 Centerline is valid? [True, True] Translation: X:118.06, Y:-23.82, Z:-12.43 [[ 9.31085970e-01 3.58215246e-01 6.89982193e-02 1.18058351e+02] [-3.57193929e-01 9.33638881e-01 -2.70358570e-02 -2.38171695e+01] [-7.41040764e-02 5.26962110e-04 9.97250374e-01 -1.24342444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.047719421 meters 0.05256274068579807 Centerline is valid? [True, True] Translation: X:118.09, Y:-23.82, Z:-12.44 [[ 9.30068893e-01 3.61435106e-01 6.58522534e-02 1.18089423e+02] [-3.60511151e-01 9.32397225e-01 -2.58287732e-02 -2.38204857e+01] [-7.07358837e-02 2.82066895e-04 9.97495040e-01 -1.24429166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.077719421 meters 0.05224591925268788 Centerline is valid? [True, True] Translation: X:118.12, Y:-23.83, Z:-12.45 [[ 9.29212972e-01 3.63922412e-01 6.42162837e-02 1.18121315e+02] [-3.63048561e-01 9.31429260e-01 -2.52046750e-02 -2.38262791e+01] [-6.89854718e-02 1.06881599e-04 9.97617659e-01 -1.24453132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.107719421 meters 0.0529029033931458 Centerline is valid? [True, True] Translation: X:118.15, Y:-23.83, Z:-12.45 [[ 9.26621860e-01 3.70611001e-01 6.33988549e-02 1.18153996e+02] [-3.69773315e-01 9.28788110e-01 -2.49066603e-02 -2.38260624e+01] [-6.81147850e-02 -3.64148834e-04 9.97677425e-01 -1.24529180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.137719421 meters 0.052803639582868434 Centerline is valid? [True, True] Translation: X:118.19, Y:-23.83, Z:-12.45 [[ 9.24531606e-01 3.75727232e-01 6.37993471e-02 1.18185996e+02] [-3.74889665e-01 9.26730014e-01 -2.50842570e-02 -2.38323087e+01] [-6.85496083e-02 -7.26527390e-04 9.97647444e-01 -1.24522704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.167719421 meters 0.052803639582868434 Centerline is valid? [True, True] Translation: X:118.22, Y:-23.84, Z:-12.46 [[ 9.24403789e-01 3.76042755e-01 6.37924827e-02 1.18215935e+02] [-3.75204734e-01 9.26602025e-01 -2.51016988e-02 -2.38443571e+01] [-6.85495555e-02 -7.31136042e-04 9.97647445e-01 -1.24556009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.197719421 meters 0.05432189634495755 Centerline is valid? [True, True] Translation: X:118.25, Y:-23.84, Z:-12.46 [[ 9.21096669e-01 3.84230876e-01 6.28296048e-02 1.18248564e+02] [-3.83434496e-01 9.23236146e-01 -2.47589662e-02 -2.38433969e+01] [-6.75197215e-02 -1.28563654e-03 9.97717111e-01 -1.24593165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22771942099999 meters 0.05559340576472305 Centerline is valid? [True, True] Translation: X:118.28, Y:-23.85, Z:-12.46 [[ 9.19567592e-01 3.88134195e-01 6.12151176e-02 1.18279541e+02] [-3.87387423e-01 9.21601583e-01 -2.41144499e-02 -2.38493944e+01] [-6.57755919e-02 -1.53910008e-03 9.97833254e-01 -1.24647746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25771942099999 meters 0.05799759975757104 Centerline is valid? [True, True] Translation: X:118.31, Y:-23.85, Z:-12.47 [[ 9.17262998e-01 3.93794004e-01 5.96227766e-02 1.18311540e+02] [-3.93095719e-01 9.19196820e-01 -2.35151441e-02 -2.38497659e+01] [-6.40651894e-02 -1.86788666e-03 9.97943968e-01 -1.24723767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28771942099999 meters 0.058969440955790195 Centerline is valid? [True, True] Translation: X:118.34, Y:-23.86, Z:-12.48 [[ 9.16157736e-01 3.96299369e-01 6.00151112e-02 1.18343195e+02] [-3.95597806e-01 9.18119026e-01 -2.36607117e-02 -2.38572563e+01] [-6.44777406e-02 -2.06490232e-03 9.97917009e-01 -1.24760724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31771942099999 meters 0.059063757098281044 Centerline is valid? [True, True] Translation: X:118.37, Y:-23.87, Z:-12.48 [[ 9.14914338e-01 3.99057058e-01 6.07059953e-02 1.18373358e+02] [-3.98343999e-01 9.16923293e-01 -2.39527469e-02 -2.38696934e+01] [-6.52212537e-02 -2.26715737e-03 9.97868252e-01 -1.24751680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.347719421 meters 0.058833952802981516 Centerline is valid? [True, True] Translation: X:118.40, Y:-23.88, Z:-12.48 [[ 9.14757855e-01 3.99568812e-01 5.96894631e-02 1.18402110e+02] [-3.98879281e-01 9.16700451e-01 -2.35712402e-02 -2.38849202e+01] [-6.41356902e-02 -2.24691302e-03 9.97938658e-01 -1.24772012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.377719421 meters 0.05760509459961421 Centerline is valid? [True, True] Translation: X:118.43, Y:-23.90, Z:-12.48 [[ 9.15761736e-01 3.97313449e-01 5.93503659e-02 1.18429724e+02] [-3.96625204e-01 9.17680672e-01 -2.34655336e-02 -2.39035711e+01] [-6.37878558e-02 -2.05101316e-03 9.97961373e-01 -1.24799158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.407719421 meters 0.05838533352129927 Centerline is valid? [True, True] Translation: X:118.46, Y:-23.91, Z:-12.49 [[ 9.16487773e-01 3.95522303e-01 6.01021690e-02 1.18458704e+02] [-3.94812653e-01 9.18454301e-01 -2.37627231e-02 -2.39140772e+01] [-6.45997825e-02 -1.95085158e-03 9.97909346e-01 -1.24882856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.437719421 meters 0.05655945728117528 Centerline is valid? [True, True] Translation: X:118.48, Y:-23.93, Z:-12.49 [[ 9.18760795e-01 3.90147231e-01 6.05288343e-02 1.18484386e+02] [-3.89413706e-01 9.20751173e-01 -2.39633698e-02 -2.39344281e+01] [-6.50812375e-02 -1.55415303e-03 9.97878759e-01 -1.24909326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.467719421 meters 0.05552331561340269 Centerline is valid? [True, True] Translation: X:118.51, Y:-23.95, Z:-12.49 [[ 9.19942852e-01 3.87196622e-01 6.15136214e-02 1.18511612e+02] [-3.86432272e-01 9.21996156e-01 -2.43554395e-02 -2.39516878e+01] [-6.61456664e-02 -1.36523596e-03 9.97809043e-01 -1.24925744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.497719421 meters 0.05416556485903185 Centerline is valid? [True, True] Translation: X:118.54, Y:-23.97, Z:-12.49 [[ 9.22046414e-01 3.82039026e-01 6.22622839e-02 1.18537211e+02] [-3.81243929e-01 9.24145646e-01 -2.46554520e-02 -2.39747022e+01] [-6.69587635e-02 -1.00364668e-03 9.97755239e-01 -1.24911347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.527719421 meters 0.05389796445633901 Centerline is valid? [True, True] Translation: X:118.57, Y:-23.99, Z:-12.49 [[ 9.22916307e-01 3.80100380e-01 6.12306410e-02 1.18566186e+02] [-3.79327450e-01 9.24944850e-01 -2.42427520e-02 -2.39913838e+01] [-6.58496453e-02 -8.52431762e-04 9.97829193e-01 -1.24948226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.557719421 meters 0.05383591203555506 Centerline is valid? [True, True] Translation: X:118.59, Y:-24.01, Z:-12.50 [[ 9.24910810e-01 3.75567295e-01 5.90694550e-02 1.18593491e+02] [-3.74837256e-01 9.26794998e-01 -2.34107642e-02 -2.40089021e+01] [-6.35375928e-02 -4.88563502e-04 9.97979326e-01 -1.25006172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.587719421 meters 0.05390113714836061 Centerline is valid? [True, True] Translation: X:118.62, Y:-24.02, Z:-12.51 [[ 9.25743486e-01 3.73682291e-01 5.79701957e-02 1.18622177e+02] [-3.72974221e-01 9.27556701e-01 -2.29955803e-02 -2.40213620e+01] [-6.23636846e-02 -3.33379921e-04 9.98053435e-01 -1.25057176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61771942099999 meters 0.05396845223214762 Centerline is valid? [True, True] Translation: X:118.65, Y:-24.04, Z:-12.51 [[ 9.27178139e-01 3.69994322e-01 5.86932711e-02 1.18651406e+02] [-3.69259899e-01 9.29034013e-01 -2.33008585e-02 -2.40355722e+01] [-6.31492305e-02 -6.90247043e-05 9.98004093e-01 -1.25084099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64771942099999 meters 0.05375598928526503 Centerline is valid? [True, True] Translation: X:118.68, Y:-24.05, Z:-12.51 [[ 9.27891582e-01 3.68050319e-01 5.96336632e-02 1.18680418e+02] [-3.67286814e-01 9.29805870e-01 -2.36947431e-02 -2.40502784e+01] [-6.41685878e-02 8.34945064e-05 9.97939069e-01 -1.25081021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67771942099999 meters 0.05411008832749748 Centerline is valid? [True, True] Translation: X:118.71, Y:-24.06, Z:-12.51 [[ 9.28152845e-01 3.67389644e-01 5.96418100e-02 1.18710527e+02] [-3.66622986e-01 9.30067109e-01 -2.37225576e-02 -2.40616841e+01] [-6.41863078e-02 1.52100899e-04 9.97937921e-01 -1.25120382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.707719421 meters 0.054194880457196705 Centerline is valid? [True, True] Translation: X:118.74, Y:-24.07, Z:-12.52 [[ 9.28067684e-01 3.67707463e-01 5.90050465e-02 1.18741241e+02] [-3.66957037e-01 9.29941505e-01 -2.34804284e-02 -2.40710980e+01] [-6.35051705e-02 1.39109736e-04 9.97981500e-01 -1.25167069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.737719421 meters 0.054328510784633154 Centerline is valid? [True, True] Translation: X:118.77, Y:-24.08, Z:-12.52 [[ 9.27683968e-01 3.68883132e-01 5.76861375e-02 1.18772746e+02] [-3.68166972e-01 9.29475782e-01 -2.29750224e-02 -2.40767309e+01] [-6.20929660e-02 7.54294043e-05 9.98070367e-01 -1.25205234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.767719421 meters 0.054284097180672494 Centerline is valid? [True, True] Translation: X:118.80, Y:-24.09, Z:-12.52 [[ 9.26758786e-01 3.71106080e-01 5.82960566e-02 1.18803483e+02] [-3.70377906e-01 9.28590477e-01 -2.32364597e-02 -2.40856688e+01] [-6.27563545e-02 -5.69781864e-05 9.98028876e-01 -1.25237827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.797719421 meters 0.05373680160408759 Centerline is valid? [True, True] Translation: X:118.84, Y:-24.09, Z:-12.52 [[ 9.25082261e-01 3.74914593e-01 6.05132977e-02 1.18836613e+02] [-3.74136100e-01 9.27059307e-01 -2.41499557e-02 -2.40916466e+01] [-6.51535866e-02 -2.99513571e-04 9.97875203e-01 -1.25222627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.827719421 meters 0.05418632399825314 Centerline is valid? [True, True] Translation: X:118.87, Y:-24.10, Z:-12.53 [[ 9.24012824e-01 3.77415280e-01 6.13025908e-02 1.18867557e+02] [-3.76621787e-01 9.26043992e-01 -2.44653746e-02 -2.40978899e+01] [-6.60025021e-02 -4.81571457e-04 9.97819341e-01 -1.25291988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.857719421 meters 0.05404070527554583 Centerline is valid? [True, True] Translation: X:118.90, Y:-24.11, Z:-12.53 [[ 9.23258880e-01 3.79315277e-01 6.09340756e-02 1.18898822e+02] [-3.78533661e-01 9.25267299e-01 -2.43452844e-02 -2.41066858e+01] [-6.56148459e-02 -5.88598739e-04 9.97844850e-01 -1.25292275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.887719421 meters 0.054925851057348624 Centerline is valid? [True, True] Translation: X:118.93, Y:-24.11, Z:-12.53 [[ 9.21815795e-01 3.83174830e-01 5.85891627e-02 1.18929375e+02] [-3.82459359e-01 9.23675472e-01 -2.34192373e-02 -2.41119036e+01] [-6.30910347e-02 -8.19750798e-04 9.98007440e-01 -1.25342127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.917719421 meters 0.0553886326976112 Centerline is valid? [True, True] Translation: X:118.96, Y:-24.12, Z:-12.54 [[ 9.19956739e-01 3.87607442e-01 5.86521039e-02 1.18961542e+02] [-3.86899179e-01 9.21823852e-01 -2.34480650e-02 -2.41176161e+01] [-6.31555528e-02 -1.12124543e-03 9.98003066e-01 -1.25359971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.947719421 meters 0.0563915267378427 Centerline is valid? [True, True] Translation: X:118.99, Y:-24.12, Z:-12.54 [[ 9.18937479e-01 3.89883698e-01 5.95366399e-02 1.18992642e+02] [-3.89157308e-01 9.20863220e-01 -2.38226774e-02 -2.41246099e+01] [-6.41131755e-02 -1.27756738e-03 9.97941816e-01 -1.25428137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97771942099999 meters 0.056073384940200796 Centerline is valid? [True, True] Translation: X:119.02, Y:-24.13, Z:-12.54 [[ 9.17768864e-01 3.92269964e-01 6.18432516e-02 1.19023938e+02] [-3.91489806e-01 9.19848953e-01 -2.47716797e-02 -2.41341221e+01] [-6.66036361e-02 -1.47632624e-03 9.97778420e-01 -1.25407108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00771942099999 meters 0.05610678450069305 Centerline is valid? [True, True] Translation: X:119.05, Y:-24.14, Z:-12.54 [[ 9.17437748e-01 3.92847873e-01 6.30755628e-02 1.19054049e+02] [-3.92036107e-01 9.19602204e-01 -2.52878714e-02 -2.41437430e+01] [-6.79387131e-02 -1.52785030e-03 9.97688327e-01 -1.25444786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03771942099999 meters 0.056530269349397096 Centerline is valid? [True, True] Translation: X:119.09, Y:-24.15, Z:-12.55 [[ 9.16777975e-01 3.94313562e-01 6.35213369e-02 1.19085799e+02] [-3.93492369e-01 9.18974516e-01 -2.54871404e-02 -2.41530861e+01] [-6.84244150e-02 -1.62911240e-03 9.97654973e-01 -1.25478293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06771942099999 meters 0.057493154799889416 Centerline is valid? [True, True] Translation: X:119.12, Y:-24.16, Z:-12.55 [[ 9.15768750e-01 3.97359236e-01 5.89341501e-02 1.19115507e+02] [-3.96656603e-01 9.17661582e-01 -2.36803777e-02 -2.41602234e+01] [-6.34912222e-02 -1.69086993e-03 9.97980965e-01 -1.25531456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.097719421 meters 0.05873941307963744 Centerline is valid? [True, True] Translation: X:119.14, Y:-24.17, Z:-12.56 [[ 9.15169391e-01 3.99103828e-01 5.64014197e-02 1.19144617e+02] [-3.98463560e-01 9.16904102e-01 -2.26640333e-02 -2.41685701e+01] [-6.07599955e-02 -1.73248089e-03 9.98150901e-01 -1.25588393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.127719421 meters 0.05971520066121417 Centerline is valid? [True, True] Translation: X:119.18, Y:-24.18, Z:-12.56 [[ 9.13524964e-01 4.02799961e-01 5.67831963e-02 1.19175871e+02] [-4.02158188e-01 9.15285868e-01 -2.28160326e-02 -2.41763714e+01] [-6.11631542e-02 -1.99281199e-03 9.98125792e-01 -1.25625392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.157719421 meters 0.06052642722805816 Centerline is valid? [True, True] Translation: X:119.21, Y:-24.19, Z:-12.57 [[ 9.12602798e-01 4.04928011e-01 5.64751251e-02 1.19206565e+02] [-4.04297487e-01 9.14346095e-01 -2.26883499e-02 -2.41865154e+01] [-6.08249585e-02 -2.12729956e-03 9.98146181e-01 -1.25665832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.187719421 meters 0.06061381158595573 Centerline is valid? [True, True] Translation: X:119.24, Y:-24.20, Z:-12.57 [[ 9.12150615e-01 4.05926631e-01 5.66111788e-02 1.19236278e+02] [-4.05293787e-01 9.13903065e-01 -2.27625688e-02 -2.41991713e+01] [-6.09770627e-02 -2.18126788e-03 9.98136784e-01 -1.25689283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.217719421 meters 0.06249775209638633 Centerline is valid? [True, True] Translation: X:119.27, Y:-24.21, Z:-12.58 [[ 9.11428520e-01 4.07699871e-01 5.54875499e-02 1.19265782e+02] [-4.07093998e-01 9.13113255e-01 -2.23306947e-02 -2.42076521e+01] [-5.97706386e-02 -2.23581649e-03 9.98209633e-01 -1.25758685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.247719421 meters 0.06177691484610194 Centerline is valid? [True, True] Translation: X:119.29, Y:-24.22, Z:-12.58 [[ 9.11007720e-01 4.08733889e-01 5.47863357e-02 1.19294569e+02] [-4.08144160e-01 9.12650810e-01 -2.20645345e-02 -2.42225262e+01] [-5.90193166e-02 -2.25976172e-03 9.98254283e-01 -1.25776969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.277719421 meters 0.06267825039991742 Centerline is valid? [True, True] Translation: X:119.32, Y:-24.24, Z:-12.58 [[ 9.11444791e-01 4.07697291e-01 5.52386823e-02 1.19321955e+02] [-4.07094646e-01 9.13114513e-01 -2.22673339e-02 -2.42365796e+01] [-5.95175742e-02 -2.19192635e-03 9.98224851e-01 -1.25827119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.307719421 meters 0.061443897926335755 Centerline is valid? [True, True] Translation: X:119.35, Y:-24.25, Z:-12.58 [[ 9.11889614e-01 4.06530315e-01 5.64839376e-02 1.19348855e+02] [-4.05896150e-01 9.13634794e-01 -2.27986393e-02 -2.42535042e+01] [-6.08740287e-02 -2.13677035e-03 9.98143170e-01 -1.25833613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.337719421 meters 0.06132135677246965 Centerline is valid? [True, True] Translation: X:119.37, Y:-24.27, Z:-12.59 [[ 9.13461046e-01 4.03195903e-01 5.49725573e-02 1.19374443e+02] [-4.02589681e-01 9.15111778e-01 -2.21806760e-02 -2.42714708e+01] [-5.92491923e-02 -1.87020083e-03 9.98241472e-01 -1.25894499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36771942099999 meters 0.0603361068501488 Centerline is valid? [True, True] Translation: X:119.40, Y:-24.29, Z:-12.59 [[ 9.14712981e-01 4.00476183e-01 5.40276718e-02 1.19402422e+02] [-3.99884476e-01 9.16305697e-01 -2.18237465e-02 -2.42889520e+01] [-5.82457541e-02 -1.64236297e-03 9.98300924e-01 -1.25930306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39771942099999 meters 0.05811605533296957 Centerline is valid? [True, True] Translation: X:119.43, Y:-24.31, Z:-12.59 [[ 9.15808664e-01 3.97982529e-01 5.38924545e-02 1.19428874e+02] [-3.97389676e-01 9.17391796e-01 -2.17655412e-02 -2.43093254e+01] [-5.81028007e-02 -1.48323386e-03 9.98309503e-01 -1.25909684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42771942099999 meters 0.057051529024813745 Centerline is valid? [True, True] Translation: X:119.45, Y:-24.33, Z:-12.59 [[ 9.18037137e-01 3.92662983e-01 5.49872451e-02 1.19453640e+02] [-3.92034302e-01 9.19681729e-01 -2.22401188e-02 -2.43293027e+01] [-5.93036360e-02 -1.13963119e-03 9.98239340e-01 -1.25936337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.457719421 meters 0.055717614601743 Centerline is valid? [True, True] Translation: X:119.48, Y:-24.35, Z:-12.59 [[ 9.20171523e-01 3.87459409e-01 5.62100908e-02 1.19478535e+02] [-3.86792536e-01 9.21886400e-01 -2.27376132e-02 -2.43533042e+01] [-6.06292205e-02 -8.19139375e-04 9.98160021e-01 -1.25895232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.487719421 meters 0.055370003045072134 Centerline is valid? [True, True] Translation: X:119.51, Y:-24.37, Z:-12.59 [[ 9.20670176e-01 3.86023433e-01 5.78993681e-02 1.19507374e+02] [-3.85313138e-01 9.22488671e-01 -2.34187305e-02 -2.43691138e+01] [-6.24516899e-02 -7.48460501e-04 9.98047707e-01 -1.25912436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.517719421 meters 0.05487999976130719 Centerline is valid? [True, True] Translation: X:119.53, Y:-24.38, Z:-12.59 [[ 9.21205113e-01 3.84310200e-01 6.07191113e-02 1.19534681e+02] [-3.83524001e-01 9.23203798e-01 -2.45781816e-02 -2.43831384e+01] [-6.55017601e-02 -6.45689951e-04 9.97852245e-01 -1.25919754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.547719421 meters 0.05475028075460053 Centerline is valid? [True, True] Translation: X:119.56, Y:-24.40, Z:-12.59 [[ 9.21146516e-01 3.84241140e-01 6.20309788e-02 1.19564140e+02] [-3.83421026e-01 9.23232531e-01 -2.51000093e-02 -2.43953232e+01] [-6.69134738e-02 -6.63195387e-04 9.97758562e-01 -1.25946528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.577719421 meters 0.05481812721786346 Centerline is valid? [True, True] Translation: X:119.59, Y:-24.41, Z:-12.60 [[ 9.20622250e-01 3.85386658e-01 6.27040387e-02 1.19594392e+02] [-3.84549742e-01 9.22754889e-01 -2.53950792e-02 -2.44068069e+01] [-6.76473830e-02 -7.33546934e-04 9.97709022e-01 -1.25980152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.607719421 meters 0.05582266671092915 Centerline is valid? [True, True] Translation: X:119.62, Y:-24.41, Z:-12.60 [[ 9.19040574e-01 3.89433273e-01 6.08781576e-02 1.19624057e+02] [-3.88651221e-01 9.21054168e-01 -2.46869899e-02 -2.44137662e+01] [-6.56860161e-02 -9.72024883e-04 9.97839868e-01 -1.26046249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.637719421 meters 0.056332221133010604 Centerline is valid? [True, True] Translation: X:119.65, Y:-24.42, Z:-12.61 [[ 9.18061542e-01 3.91970590e-01 5.93469607e-02 1.19654239e+02] [-3.91232633e-01 9.19977062e-01 -2.40672325e-02 -2.44244972e+01] [-6.40314899e-02 -1.12326713e-03 9.97947246e-01 -1.26080117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.667719421 meters 0.05877064719739214 Centerline is valid? [True, True] Translation: X:119.68, Y:-24.43, Z:-12.61 [[ 9.15146972e-01 3.99336174e-01 5.51057157e-02 1.19684167e+02] [-3.98712768e-01 9.16803323e-01 -2.23560892e-02 -2.44296688e+01] [-5.94486984e-02 -1.51224509e-03 9.98230217e-01 -1.26139907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.697719421 meters 0.05916653551182512 Centerline is valid? [True, True] Translation: X:119.71, Y:-24.44, Z:-12.61 [[ 9.13355167e-01 4.03363288e-01 5.55013309e-02 1.19714336e+02] [-4.02739070e-01 9.15038154e-01 -2.25037468e-02 -2.44402286e+01] [-5.98630206e-02 -1.79864099e-03 9.98204981e-01 -1.26139173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72771942099999 meters 0.06196434577299591 Centerline is valid? [True, True] Translation: X:119.74, Y:-24.44, Z:-12.62 [[ 9.09990284e-01 4.10947852e-01 5.51320787e-02 1.19744947e+02] [-4.10344050e-01 9.11656063e-01 -2.23826689e-02 -2.44438173e+01] [-5.94596035e-02 -2.25510921e-03 9.98228165e-01 -1.26175573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75771942099999 meters 0.06306569053989139 Centerline is valid? [True, True] Translation: X:119.78, Y:-24.45, Z:-12.62 [[ 9.08493758e-01 4.14228130e-01 5.52643372e-02 1.19775870e+02] [-4.13627352e-01 9.10169729e-01 -2.24383039e-02 -2.44532485e+01] [-5.95945035e-02 -2.47378242e-03 9.98219603e-01 -1.26211644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78771942099999 meters 0.06603401963460852 Centerline is valid? [True, True] Translation: X:119.80, Y:-24.46, Z:-12.63 [[ 9.06391491e-01 4.18942681e-01 5.42355470e-02 1.19804939e+02] [-4.18372085e-01 9.08008592e-01 -2.20271746e-02 -2.44594663e+01] [-5.84744662e-02 -2.72539520e-03 9.98285184e-01 -1.26284464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81771942099999 meters 0.06536052770386645 Centerline is valid? [True, True] Translation: X:119.83, Y:-24.48, Z:-12.63 [[ 9.05329501e-01 4.21399458e-01 5.29243887e-02 1.19831958e+02] [-4.20860065e-01 9.06870773e-01 -2.14989715e-02 -2.44754704e+01] [-5.70552363e-02 -2.81010852e-03 9.98367068e-01 -1.26289932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.847719421 meters 0.06669800673760334 Centerline is valid? [True, True] Translation: X:119.86, Y:-24.49, Z:-12.63 [[ 9.04107990e-01 4.24041631e-01 5.27014110e-02 1.19859118e+02] [-4.23511881e-01 9.05637813e-01 -2.13971402e-02 -2.44919845e+01] [-5.68016688e-02 -2.97434826e-03 9.98381051e-01 -1.26302709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.877719421 meters 0.06600147066172936 Centerline is valid? [True, True] Translation: X:119.88, Y:-24.51, Z:-12.63 [[ 9.03159607e-01 4.26129399e-01 5.21196590e-02 1.19884457e+02] [-4.25613037e-01 9.04657102e-01 -2.11913051e-02 -2.45099151e+01] [-5.61806578e-02 -3.04367561e-03 9.98415980e-01 -1.26302397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.907719421 meters 0.06855832581117224 Centerline is valid? [True, True] Translation: X:119.91, Y:-24.52, Z:-12.64 [[ 9.02461200e-01 4.27649150e-01 5.17685875e-02 1.19913861e+02] [-4.27142913e-01 9.03939388e-01 -2.10360219e-02 -2.45185536e+01] [-5.57917023e-02 -3.12839168e-03 9.98437529e-01 -1.26370489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.937719421 meters 0.06519577234286845 Centerline is valid? [True, True] Translation: X:119.94, Y:-24.54, Z:-12.63 [[ 9.01686106e-01 4.29205457e-01 5.23912487e-02 1.19941000e+02] [-4.28688787e-01 9.03201034e-01 -2.13029738e-02 -2.45386259e+01] [-5.64631826e-02 -3.25094531e-03 9.98399389e-01 -1.26336122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.967719421 meters 0.07056682237531152 Centerline is valid? [True, True] Translation: X:119.97, Y:-24.55, Z:-12.64 [[ 9.00695800e-01 4.31171790e-01 5.32725469e-02 1.19971269e+02] [-4.30639891e-01 9.02263395e-01 -2.16806251e-02 -2.45458975e+01] [-5.74139430e-02 -3.41363584e-03 9.98344623e-01 -1.26421231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.997719421 meters 0.06801199982066553 Centerline is valid? [True, True] Translation: X:120.00, Y:-24.57, Z:-12.64 [[ 9.00395436e-01 4.31742518e-01 5.37257654e-02 1.19998825e+02] [-4.31201713e-01 9.01990233e-01 -2.18792592e-02 -2.45670032e+01] [-5.79063221e-02 -3.46665702e-03 9.98316002e-01 -1.26402015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.027719421 meters 0.06726294990954988 Centerline is valid? [True, True] Translation: X:120.02, Y:-24.59, Z:-12.64 [[ 9.00341738e-01 4.31821628e-01 5.39892263e-02 1.20024378e+02] [-4.31274388e-01 9.01952352e-01 -2.20080983e-02 -2.45887381e+01] [-5.81992825e-02 -3.46936108e-03 9.98298957e-01 -1.26402382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.057719421 meters 0.06726294990954988 Centerline is valid? [True, True] Translation: X:120.05, Y:-24.60, Z:-12.64 [[ 9.00205340e-01 4.32106578e-01 5.39837967e-02 1.20054252e+02] [-4.31559054e-01 9.01815857e-01 -2.20214054e-02 -2.46011333e+01] [-5.81990380e-02 -3.47340950e-03 9.98298957e-01 -1.26435758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.087719421 meters 0.06799741741470772 Centerline is valid? [True, True] Translation: X:120.08, Y:-24.62, Z:-12.65 [[ 8.99692891e-01 4.33082274e-01 5.47032424e-02 1.20082602e+02] [-4.32520616e-01 9.01347344e-01 -2.23356727e-02 -2.46171217e+01] [-5.89798061e-02 -3.56503416e-03 9.98252810e-01 -1.26473890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11771942099999 meters 0.06932955095972976 Centerline is valid? [True, True] Translation: X:120.11, Y:-24.63, Z:-12.65 [[ 8.99281819e-01 4.34012177e-01 5.40891813e-02 1.20110859e+02] [-4.33463434e-01 9.00899951e-01 -2.21072551e-02 -2.46285846e+01] [-5.83237587e-02 -3.56502966e-03 9.98291355e-01 -1.26527851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14771942099999 meters 0.06964419575262475 Centerline is valid? [True, True] Translation: X:120.14, Y:-24.64, Z:-12.66 [[ 8.99049260e-01 4.34719691e-01 5.22419303e-02 1.20139114e+02] [-4.34208174e-01 9.00559116e-01 -2.13668058e-02 -2.46426836e+01] [-5.63355178e-02 -3.47406220e-03 9.98405850e-01 -1.26579625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17771942099999 meters 0.07089792012074364 Centerline is valid? [True, True] Translation: X:120.16, Y:-24.66, Z:-12.66 [[ 8.98886164e-01 4.35297601e-01 5.01962381e-02 1.20163848e+02] [-4.34825101e-01 9.00280377e-01 -2.05517582e-02 -2.46599226e+01] [-5.41368192e-02 -3.35289319e-03 9.98527898e-01 -1.26629195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.207719421 meters 0.07107178624504457 Centerline is valid? [True, True] Translation: X:120.19, Y:-24.68, Z:-12.67 [[ 8.99531990e-01 4.34038514e-01 4.95254127e-02 1.20188800e+02] [-4.33576536e-01 9.00888522e-01 -2.02795058e-02 -2.46800496e+01] [-5.34189624e-02 -3.23099268e-03 9.98566961e-01 -1.26662373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.237719421 meters 0.06996336930104392 Centerline is valid? [True, True] Translation: X:120.22, Y:-24.70, Z:-12.67 [[ 9.00692768e-01 4.31723752e-01 4.86532641e-02 1.20215542e+02] [-4.31273837e-01 9.02000798e-01 -1.99358407e-02 -2.46985505e+01] [-5.24920590e-02 -3.02681233e-03 9.98616754e-01 -1.26693938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.267719421 meters 0.06691897498539634 Centerline is valid? [True, True] Translation: X:120.24, Y:-24.72, Z:-12.67 [[ 9.03474337e-01 4.25889338e-01 4.85014934e-02 1.20239282e+02] [-4.25433619e-01 9.04771305e-01 -1.98776488e-02 -2.47227658e+01] [-5.23484381e-02 -2.67522031e-03 9.98625297e-01 -1.26741836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.297719421 meters 0.0654850214405845 Centerline is valid? [True, True] Translation: X:120.27, Y:-24.74, Z:-12.68 [[ 9.04919403e-01 4.22745627e-01 4.90612823e-02 1.20265382e+02] [-4.22274544e-01 9.06244883e-01 -2.01102211e-02 -2.47399305e+01] [-5.29630441e-02 -2.51920141e-03 9.98593295e-01 -1.26775528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.327719421 meters 0.06437491188815181 Centerline is valid? [True, True] Translation: X:120.29, Y:-24.76, Z:-12.68 [[ 9.06614474e-01 4.18851109e-01 5.11267525e-02 1.20290586e+02] [-4.18333154e-01 9.08051792e-01 -2.09598283e-02 -2.47568399e+01] [-5.52047866e-02 -2.38553194e-03 9.98472203e-01 -1.26814846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.357719421 meters 0.05848281417609349 Centerline is valid? [True, True] Translation: X:120.31, Y:-24.79, Z:-12.67 [[ 9.10176841e-01 4.11064875e-01 5.10273229e-02 1.20311385e+02] [-4.10536946e-01 9.11604086e-01 -2.09142598e-02 -2.47897632e+01] [-5.51138336e-02 -1.91292639e-03 9.98478245e-01 -1.26733999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.387719421 meters 0.05739875981286194 Centerline is valid? [True, True] Translation: X:120.34, Y:-24.81, Z:-12.68 [[ 9.11929297e-01 4.07055008e-01 5.18765601e-02 1.20338558e+02] [-4.06502354e-01 9.13402082e-01 -2.12713828e-02 -2.48072681e+01] [-5.60427810e-02 -1.68994666e-03 9.98426938e-01 -1.26755561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.417719421 meters 0.05617608396758746 Centerline is valid? [True, True] Translation: X:120.36, Y:-24.83, Z:-12.68 [[ 9.14835550e-01 4.00091188e-01 5.47992487e-02 1.20363132e+02] [-3.99461596e-01 9.16474373e-01 -2.24757118e-02 -2.48258605e+01] [-5.92144413e-02 -1.32861514e-03 9.98244401e-01 -1.26784082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.447719421 meters 0.05504629440986279 Centerline is valid? [True, True] Translation: X:120.39, Y:-24.84, Z:-12.68 [[ 9.15788117e-01 3.97691661e-01 5.63335302e-02 1.20390167e+02] [-3.97021779e-01 9.17518330e-01 -2.31045588e-02 -2.48422336e+01] [-6.08755369e-02 -1.20675797e-03 9.98144635e-01 -1.26779819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47771942099999 meters 0.05447965579671523 Centerline is valid? [True, True] Translation: X:120.42, Y:-24.86, Z:-12.68 [[ 9.17261135e-01 3.94033498e-01 5.80483594e-02 1.20417713e+02] [-3.93314667e-01 9.19095545e-01 -2.38107529e-02 -2.48564162e+01] [-6.27342227e-02 -9.90592902e-04 9.98029777e-01 -1.26803509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50771942099999 meters 0.054054674412299844 Centerline is valid? [True, True] Translation: X:120.45, Y:-24.87, Z:-12.68 [[ 9.17722634e-01 3.92860366e-01 5.87017927e-02 1.20446983e+02] [-3.92123307e-01 9.19597669e-01 -2.40715473e-02 -2.48699509e+01] [-6.34387886e-02 -9.27337285e-04 9.97985301e-01 -1.26816477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53771942099999 meters 0.053988885124519666 Centerline is valid? [True, True] Translation: X:120.48, Y:-24.88, Z:-12.69 [[ 9.18558514e-01 3.90832759e-01 5.91608884e-02 1.20475768e+02] [-3.90078657e-01 9.20461381e-01 -2.42793773e-02 -2.48819416e+01] [-6.39444891e-02 -7.75371120e-04 9.97953156e-01 -1.26869912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56771942099999 meters 0.054025365084492495 Centerline is valid? [True, True] Translation: X:120.50, Y:-24.89, Z:-12.69 [[ 9.19354367e-01 3.89177834e-01 5.76902142e-02 1.20503526e+02] [-3.88456345e-01 9.21162430e-01 -2.36948609e-02 -2.48944887e+01] [-6.23635725e-02 -6.26155877e-04 9.98053302e-01 -1.26914189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.597719421 meters 0.053864260532628605 Centerline is valid? [True, True] Translation: X:120.53, Y:-24.91, Z:-12.69 [[ 9.21465126e-01 3.84394757e-01 5.60597111e-02 1.20530762e+02] [-3.83703766e-01 9.23168778e-01 -2.30397054e-02 -2.49112212e+01] [-6.06089169e-02 -2.80037172e-04 9.98161550e-01 -1.26943429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.627719421 meters 0.053858609726226365 Centerline is valid? [True, True] Translation: X:120.56, Y:-24.93, Z:-12.70 [[ 9.23666466e-01 3.79275745e-01 5.46824279e-02 1.20557131e+02] [-3.78608312e-01 9.25283688e-01 -2.24909347e-02 -2.49270514e+01] [-5.91270247e-02 7.09004821e-05 9.98250465e-01 -1.26998026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.657719421 meters 0.05402169577895698 Centerline is valid? [True, True] Translation: X:120.59, Y:-24.94, Z:-12.70 [[ 9.24269805e-01 3.77991996e-01 5.33608274e-02 1.20586018e+02] [-3.77353477e-01 9.25808849e-01 -2.19619958e-02 -2.49390321e+01] [-5.77033848e-02 1.62915868e-04 9.98333758e-01 -1.27039274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.687719421 meters 0.0550396475246012 Centerline is valid? [True, True] Translation: X:120.61, Y:-24.95, Z:-12.71 [[ 9.25241715e-01 3.75834398e-01 5.17327179e-02 1.20614403e+02] [-3.75230116e-01 9.26686794e-01 -2.13059871e-02 -2.49493896e+01] [-5.59475494e-02 3.01514307e-04 9.98433664e-01 -1.27140826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.717719421 meters 0.054852419457082705 Centerline is valid? [True, True] Translation: X:120.64, Y:-24.96, Z:-12.71 [[ 9.25363210e-01 3.75646522e-01 5.09177855e-02 1.20644195e+02] [-3.75060128e-01 9.26762962e-01 -2.09836183e-02 -2.49607722e+01] [-5.50711409e-02 3.20237224e-04 9.98482382e-01 -1.27137201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.747719421 meters 0.05512162710119324 Centerline is valid? [True, True] Translation: X:120.67, Y:-24.97, Z:-12.72 [[ 9.25517690e-01 3.75406763e-01 4.98675001e-02 1.20673076e+02] [-3.74843148e-01 9.26860100e-01 -2.05662049e-02 -2.49734975e+01] [-5.39408886e-02 3.41895764e-04 9.98544072e-01 -1.27165336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.777719421 meters 0.05515752176871561 Centerline is valid? [True, True] Translation: X:120.70, Y:-24.98, Z:-12.72 [[ 9.25935726e-01 3.74538382e-01 4.86213103e-02 1.20703955e+02] [-3.74000787e-01 9.27211327e-01 -2.00640456e-02 -2.49836853e+01] [-5.25969849e-02 3.93608319e-04 9.98615743e-01 -1.27184706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.807719421 meters 0.054609339080527154 Centerline is valid? [True, True] Translation: X:120.74, Y:-24.99, Z:-12.72 [[ 9.25924573e-01 3.74310366e-01 5.05513073e-02 1.20736786e+02] [-3.73727343e-01 9.27303375e-01 -2.08883820e-02 -2.49866326e+01] [-5.46951357e-02 4.48660456e-04 9.98503000e-01 -1.27176649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.837719421 meters 0.05533619172507941 Centerline is valid? [True, True] Translation: X:120.77, Y:-25.00, Z:-12.73 [[ 9.25939846e-01 3.74228297e-01 5.08781308e-02 1.20767604e+02] [-3.73637878e-01 9.27336497e-01 -2.10180473e-02 -2.49955638e+01] [-5.50466957e-02 4.51450629e-04 9.98483679e-01 -1.27263749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86771942099999 meters 0.05525294599220846 Centerline is valid? [True, True] Translation: X:120.80, Y:-25.00, Z:-12.72 [[ 9.26402397e-01 3.72622632e-01 5.41384611e-02 1.20799495e+02] [-3.71950116e-01 9.27982766e-01 -2.23852164e-02 -2.50016209e+01] [-5.85807971e-02 6.00911271e-04 9.98282490e-01 -1.27230462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89771942099999 meters 0.05532441267247012 Centerline is valid? [True, True] Translation: X:120.83, Y:-25.01, Z:-12.72 [[ 9.26863196e-01 3.71201360e-01 5.59836188e-02 1.20829516e+02] [-3.70480121e-01 9.28552126e-01 -2.31393333e-02 -2.50132385e+01] [-6.05730603e-02 7.06178509e-04 9.98163517e-01 -1.27213368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92771942099999 meters 0.05650521765211921 Centerline is valid? [True, True] Translation: X:120.86, Y:-25.03, Z:-12.72 [[ 9.29158868e-01 3.65193171e-01 5.74260073e-02 1.20859331e+02] [-3.64421413e-01 9.30931057e-01 -2.37571353e-02 -2.50266538e+01] [-6.21355972e-02 1.14688622e-03 9.98067058e-01 -1.27194491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.957719421 meters 0.05748679712485875 Centerline is valid? [True, True] Translation: X:120.89, Y:-25.04, Z:-12.72 [[ 9.30677031e-01 3.61227408e-01 5.79225596e-02 1.20887643e+02] [-3.60432530e-01 9.32476619e-01 -2.39947219e-02 -2.50376682e+01] [-6.26789837e-02 1.45416191e-03 9.98032680e-01 -1.27242707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.987719421 meters 0.058561562405154796 Centerline is valid? [True, True] Translation: X:120.92, Y:-25.05, Z:-12.73 [[ 9.32171416e-01 3.57416763e-01 5.75300698e-02 1.20917956e+02] [-3.56625314e-01 9.33943450e-01 -2.38331269e-02 -2.50479733e+01] [-6.22481909e-02 1.69988041e-03 9.98059253e-01 -1.27282063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.017719421 meters 0.06011735449313525 Centerline is valid? [True, True] Translation: X:120.95, Y:-25.05, Z:-12.73 [[ 9.34025912e-01 3.52427385e-01 5.82282887e-02 1.20949778e+02] [-3.51606509e-01 9.35836888e-01 -2.41284337e-02 -2.50548279e+01] [-6.29957013e-02 2.06313705e-03 9.98011666e-01 -1.27335504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.047719421 meters 0.061743521583515426 Centerline is valid? [True, True] Translation: X:120.98, Y:-25.06, Z:-12.74 [[ 9.34983205e-01 3.49918879e-01 5.79929657e-02 1.20979816e+02] [-3.49099968e-01 9.36777373e-01 -2.40284522e-02 -2.50639165e+01] [-6.27345071e-02 2.22085678e-03 9.98027780e-01 -1.27367559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.077719421 meters 0.06189396599807193 Centerline is valid? [True, True] Translation: X:121.01, Y:-25.07, Z:-12.74 [[ 9.35048685e-01 3.49841683e-01 5.73999455e-02 1.21010554e+02] [-3.49038184e-01 9.36806206e-01 -2.38008009e-02 -2.50734369e+01] [-6.20991375e-02 2.22013486e-03 9.98067517e-01 -1.27398273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.107719421 meters 0.061720932995068686 Centerline is valid? [True, True] Translation: X:121.04, Y:-25.08, Z:-12.74 [[ 9.34322526e-01 3.51811194e-01 5.71865514e-02 1.21042345e+02] [-3.51016008e-01 9.36068623e-01 -2.37338561e-02 -2.50771421e+01] [-6.18803726e-02 2.10168139e-03 9.98081361e-01 -1.27445505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.137719421 meters 0.06006855832527878 Centerline is valid? [True, True] Translation: X:121.07, Y:-25.08, Z:-12.75 [[ 9.33670134e-01 3.53632173e-01 5.66071277e-02 1.21074873e+02] [-3.52855323e-01 9.35382477e-01 -2.35104840e-02 -2.50812375e+01] [-6.12633789e-02 1.97691038e-03 9.98119677e-01 -1.27466360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.167719421 meters 0.0591176894638499 Centerline is valid? [True, True] Translation: X:121.11, Y:-25.08, Z:-12.75 [[ 9.31925246e-01 3.58426518e-01 5.51884741e-02 1.21108472e+02] [-3.57694985e-01 9.33556494e-01 -2.29471152e-02 -2.50794946e+01] [-5.97464130e-02 1.64435559e-03 9.98212233e-01 -1.27548444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.197719421 meters 0.05875388807514769 Centerline is valid? [True, True] Translation: X:121.14, Y:-25.08, Z:-12.76 [[ 9.30796338e-01 3.61414414e-01 5.47521584e-02 1.21139248e+02] [-3.60699187e-01 9.32404165e-01 -2.27721220e-02 -2.50848391e+01] [-5.92813137e-02 1.44714871e-03 9.98240267e-01 -1.27599186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22771942099999 meters 0.057479028127566396 Centerline is valid? [True, True] Translation: X:121.17, Y:-25.08, Z:-12.77 [[ 9.28325235e-01 3.67923170e-01 5.33366524e-02 1.21173131e+02] [-3.67254177e-01 9.29855633e-01 -2.22007165e-02 -2.50827892e+01] [-5.77635447e-02 1.02137696e-03 9.98329770e-01 -1.27659006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25771942099999 meters 0.05553079617874761 Centerline is valid? [True, True] Translation: X:121.21, Y:-25.08, Z:-12.77 [[ 9.24957626e-01 3.76244705e-01 5.37895204e-02 1.21209009e+02] [-3.75576637e-01 9.26520176e-01 -2.24176870e-02 -2.50788984e+01] [-5.82716120e-02 5.33323366e-04 9.98300623e-01 -1.27681051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28771942099999 meters 0.054813365835202695 Centerline is valid? [True, True] Translation: X:121.24, Y:-25.08, Z:-12.77 [[ 9.22963649e-01 3.80899815e-01 5.52578820e-02 1.21241405e+02] [-3.80203446e-01 9.24616284e-01 -2.30231741e-02 -2.50839969e+01] [-5.98618603e-02 2.40315622e-04 9.98206642e-01 -1.27704503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31771942099999 meters 0.0545237543847222 Centerline is valid? [True, True] Translation: X:121.27, Y:-25.09, Z:-12.77 [[ 9.21511057e-01 3.84204604e-01 5.66055953e-02 1.21272584e+02] [-3.83478383e-01 9.23247973e-01 -2.36116580e-02 -2.50890587e+01] [-6.13327089e-02 5.13817782e-05 9.98117376e-01 -1.27747901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.347719421 meters 0.05369243650923144 Centerline is valid? [True, True] Translation: X:121.31, Y:-25.09, Z:-12.77 [[ 9.18557438e-01 3.90722362e-01 5.99021579e-02 1.21307416e+02] [-3.89921598e-01 9.20508493e-01 -2.50052416e-02 -2.50884723e+01] [-6.49105521e-02 -3.88394497e-04 9.97891011e-01 -1.27729339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.377719421 meters 0.0535497577347242 Centerline is valid? [True, True] Translation: X:121.34, Y:-25.09, Z:-12.78 [[ 9.17092731e-01 3.93837151e-01 6.19130053e-02 1.21339298e+02] [-3.92989183e-01 9.19180012e-01 -2.58380999e-02 -2.50945514e+01] [-6.70852006e-02 -6.35207731e-04 9.97747048e-01 -1.27751836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.407719421 meters 0.05426411650052468 Centerline is valid? [True, True] Translation: X:121.37, Y:-25.09, Z:-12.78 [[ 9.13301652e-01 4.02088761e-01 6.48438116e-02 1.21374980e+02] [-4.01177574e-01 9.15599801e-01 -2.70842848e-02 -2.50939278e+01] [-7.02612676e-02 -1.27776099e-03 9.97527805e-01 -1.27772489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.437719421 meters 0.055007411804622375 Centerline is valid? [True, True] Translation: X:121.41, Y:-25.10, Z:-12.78 [[ 9.11429653e-01 4.06342116e-01 6.46689402e-02 1.21406938e+02] [-4.05444010e-01 9.13719664e-01 -2.70468019e-02 -2.51005434e+01] [-7.00795371e-02 -1.56837713e-03 9.97540174e-01 -1.27802291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.467719421 meters 0.05795849304080647 Centerline is valid? [True, True] Translation: X:121.44, Y:-25.10, Z:-12.79 [[ 9.07875699e-01 4.14422146e-01 6.33719107e-02 1.21439223e+02] [-4.13578801e-01 9.10082252e-01 -2.65117022e-02 -2.51001652e+01] [-6.86606878e-02 -2.13994870e-03 9.97637775e-01 -1.27861120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.497719421 meters 0.05890183522296236 Centerline is valid? [True, True] Translation: X:121.47, Y:-25.11, Z:-12.79 [[ 9.06129465e-01 4.18374669e-01 6.23861308e-02 1.21469369e+02] [-4.17566360e-01 9.08271377e-01 -2.61044213e-02 -2.51087721e+01] [-6.75849655e-02 -2.39636426e-03 9.97710644e-01 -1.27893418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.527719421 meters 0.06157967016370376 Centerline is valid? [True, True] Translation: X:121.50, Y:-25.11, Z:-12.79 [[ 9.03113232e-01 4.24834483e-01 6.24672120e-02 1.21500483e+02] [-4.24039097e-01 9.05266468e-01 -2.61431877e-02 -2.51113421e+01] [-6.76559999e-02 -2.87828147e-03 9.97704556e-01 -1.27949714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.557719421 meters 0.06364172688826748 Centerline is valid? [True, True] Translation: X:121.53, Y:-25.12, Z:-12.80 [[ 9.01795521e-01 4.27345883e-01 6.43454282e-02 1.21531206e+02] [-4.26508951e-01 9.04082662e-01 -2.69194213e-02 -2.51183056e+01] [-6.96774898e-02 -3.16808749e-03 9.97564540e-01 -1.27993346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.587719421 meters 0.06195609351732664 Centerline is valid? [True, True] Translation: X:121.56, Y:-25.14, Z:-12.80 [[ 9.01361596e-01 4.27709002e-01 6.79137959e-02 1.21558717e+02] [-4.26775372e-01 9.03910287e-01 -2.84424802e-02 -2.51363296e+01] [-7.35530836e-02 -3.34697616e-03 9.97285687e-01 -1.27965358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61771942099999 meters 0.06363325390102147 Centerline is valid? [True, True] Translation: X:121.59, Y:-25.15, Z:-12.80 [[ 9.01405497e-01 4.27639085e-01 6.77712576e-02 1.21586709e+02] [-4.26709286e-01 9.03943409e-01 -2.83812945e-02 -2.51481829e+01] [-7.33983325e-02 -3.33557006e-03 9.97297127e-01 -1.28021400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64771942099999 meters 0.060705278974212594 Centerline is valid? [True, True] Translation: X:121.61, Y:-25.17, Z:-12.80 [[ 9.02872341e-01 4.24715892e-01 6.66179191e-02 1.21610635e+02] [-4.23807472e-01 9.05321655e-01 -2.79271823e-02 -2.51715104e+01] [-7.21717629e-02 -3.01849135e-03 9.97387650e-01 -1.28041338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67771942099999 meters 0.060056289652131584 Centerline is valid? [True, True] Translation: X:121.64, Y:-25.19, Z:-12.81 [[ 9.03816624e-01 4.22566808e-01 6.74744529e-02 1.21638022e+02] [-4.21628673e-01 9.06327199e-01 -2.82890519e-02 -2.51872219e+01] [-7.31079463e-02 -2.88104866e-03 9.97319872e-01 -1.28084442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.707719421 meters 0.05743849301891247 Centerline is valid? [True, True] Translation: X:121.66, Y:-25.21, Z:-12.81 [[ 9.06115540e-01 4.17728740e-01 6.67632259e-02 1.21662151e+02] [-4.16796769e-01 9.08568464e-01 -2.79964127e-02 -2.52097764e+01] [-7.23538678e-02 -2.45871216e-03 9.97375994e-01 -1.28128431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.737719421 meters 0.05758586610099475 Centerline is valid? [True, True] Translation: X:121.69, Y:-25.23, Z:-12.82 [[ 9.07621594e-01 4.14651963e-01 6.54735900e-02 1.21689309e+02] [-4.13748085e-01 9.09977482e-01 -2.74500420e-02 -2.52252370e+01] [-7.09617064e-02 -2.17532164e-03 9.97476669e-01 -1.28198310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.767719421 meters 0.054965227299217066 Centerline is valid? [True, True] Translation: X:121.71, Y:-25.25, Z:-12.82 [[ 9.10754917e-01 4.07320544e-01 6.79371490e-02 1.21711600e+02] [-4.06324301e-01 9.13283806e-01 -2.85175588e-02 -2.52519251e+01] [-7.36616856e-02 -1.63200773e-03 9.97281952e-01 -1.28190274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.797719421 meters 0.05399023644265828 Centerline is valid? [True, True] Translation: X:121.74, Y:-25.27, Z:-12.82 [[ 9.13624862e-01 4.00552506e-01 6.96225666e-02 1.21735482e+02] [-3.99486580e-01 9.16273130e-01 -2.92236701e-02 -2.52725782e+01] [-7.54989014e-02 -1.11380951e-03 9.97145263e-01 -1.28229640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.827719421 meters 0.053247330968448414 Centerline is valid? [True, True] Translation: X:121.76, Y:-25.29, Z:-12.82 [[ 9.14905116e-01 3.97667109e-01 6.93505531e-02 1.21763249e+02] [-3.96600816e-01 9.17529356e-01 -2.91148492e-02 -2.52900475e+01] [-7.52091862e-02 -8.67161451e-04 9.97167401e-01 -1.28242937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.857719421 meters 0.05320543981839391 Centerline is valid? [True, True] Translation: X:121.79, Y:-25.30, Z:-12.83 [[ 9.15673272e-01 3.95961251e-01 6.89720723e-02 1.21792044e+02] [-3.94899982e-01 9.18266952e-01 -2.89794514e-02 -2.53047225e+01] [-7.48095144e-02 -7.01361020e-04 9.97197596e-01 -1.28288610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.887719421 meters 0.05336278838056685 Centerline is valid? [True, True] Translation: X:121.82, Y:-25.32, Z:-12.84 [[ 9.17015020e-01 3.92841818e-01 6.89837646e-02 1.21819064e+02] [-3.91769072e-01 9.19605965e-01 -2.90148767e-02 -2.53190840e+01] [-7.48361383e-02 -4.18627709e-04 9.97195757e-01 -1.28353947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.917719421 meters 0.05341670920617036 Centerline is valid? [True, True] Translation: X:121.85, Y:-25.33, Z:-12.84 [[ 9.17651939e-01 3.91241283e-01 6.96073029e-02 1.21847122e+02] [-3.90142710e-01 9.20288099e-01 -2.92998349e-02 -2.53343951e+01] [-7.55220775e-02 -2.69731411e-04 9.97144093e-01 -1.28365549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.947719421 meters 0.05348852021919729 Centerline is valid? [True, True] Translation: X:121.87, Y:-25.35, Z:-12.84 [[ 9.19414044e-01 3.86865866e-01 7.07998346e-02 1.21874515e+02] [-3.85714308e-01 9.22135992e-01 -2.98275737e-02 -2.53525458e+01] [-7.68263459e-02 1.15380910e-04 9.97044482e-01 -1.28376337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97771942099999 meters 0.05348852021919729 Centerline is valid? [True, True] Translation: X:121.90, Y:-25.37, Z:-12.84 [[ 9.19279587e-01 3.87186846e-01 7.07911513e-02 1.21904147e+02] [-3.86034652e-01 9.22001266e-01 -2.98481655e-02 -2.53653036e+01] [-7.68263481e-02 1.10971763e-04 9.97044482e-01 -1.28409633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00771942099999 meters 0.053826391541698715 Centerline is valid? [True, True] Translation: X:121.93, Y:-25.38, Z:-12.85 [[ 9.20851837e-01 3.83479417e-01 7.05367314e-02 1.21933641e+02] [-3.82322319e-01 9.23549315e-01 -2.97709143e-02 -2.53781128e+01] [-7.65606828e-02 4.46834422e-04 9.97064823e-01 -1.28460856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03771942099999 meters 0.05410984779332681 Centerline is valid? [True, True] Translation: X:121.96, Y:-25.39, Z:-12.85 [[ 9.21688089e-01 3.81356981e-01 7.11190484e-02 1.21963120e+02] [-3.80172404e-01 9.24427622e-01 -3.00418921e-02 -2.53910307e+01] [-7.72010981e-02 6.51754508e-04 9.97015329e-01 -1.28501690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06771942099999 meters 0.05434582763102734 Centerline is valid? [True, True] Translation: X:121.99, Y:-25.41, Z:-12.85 [[ 9.22834454e-01 3.78266363e-01 7.27401491e-02 1.21992922e+02] [-3.77015221e-01 9.25696301e-01 -3.07551883e-02 -2.54060603e+01] [-7.89689401e-02 9.57803955e-04 9.96876617e-01 -1.28513638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.097719421 meters 0.056108168336205605 Centerline is valid? [True, True] Translation: X:122.02, Y:-25.43, Z:-12.85 [[ 9.26014803e-01 3.69767095e-01 7.59531455e-02 1.22018302e+02] [-3.68371164e-01 9.29122750e-01 -3.21496742e-02 -2.54258989e+01] [-8.24576871e-02 1.79212560e-03 9.96592955e-01 -1.28524789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.127719421 meters 0.05862877023060529 Centerline is valid? [True, True] Translation: X:122.04, Y:-25.44, Z:-12.85 [[ 9.28992788e-01 3.61839212e-01 7.77482129e-02 1.22044290e+02] [-3.60345826e-01 9.32236929e-01 -3.29422705e-02 -2.54438245e+01] [-8.43995605e-02 2.58688775e-03 9.96428634e-01 -1.28538545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.157719421 meters 0.059667056547450234 Centerline is valid? [True, True] Translation: X:122.07, Y:-25.46, Z:-12.86 [[ 9.30128915e-01 3.58839119e-01 7.80684824e-02 1.22073540e+02] [-3.57322766e-01 9.33395007e-01 -3.30787135e-02 -2.54572780e+01] [-8.47386681e-02 2.87182184e-03 9.96399072e-01 -1.28574401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.187719421 meters 0.06067699365373414 Centerline is valid? [True, True] Translation: X:122.10, Y:-25.47, Z:-12.86 [[ 9.30761949e-01 3.57109186e-01 7.84552316e-02 1.22102485e+02] [-3.55571253e-01 9.34057673e-01 -3.32467665e-02 -2.54695233e+01] [-8.51544368e-02 3.04840017e-03 9.96363101e-01 -1.28619743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.217719421 meters 0.061073087189090956 Centerline is valid? [True, True] Translation: X:122.13, Y:-25.48, Z:-12.87 [[ 9.31673460e-01 3.55113325e-01 7.66752254e-02 1.22133663e+02] [-3.53635513e-01 9.34817842e-01 -3.25196263e-02 -2.54754145e+01] [-8.32255213e-02 3.18259004e-03 9.96525656e-01 -1.28683970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.247719421 meters 0.06232427198458963 Centerline is valid? [True, True] Translation: X:122.16, Y:-25.48, Z:-12.87 [[ 9.31554699e-01 3.55413206e-01 7.67287157e-02 1.22163741e+02] [-3.53932172e-01 9.34703870e-01 -3.25682636e-02 -2.54839831e+01] [-8.32938186e-02 3.18235798e-03 9.96519951e-01 -1.28740551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.277719421 meters 0.06176472192934715 Centerline is valid? [True, True] Translation: X:122.20, Y:-25.49, Z:-12.88 [[ 9.31200276e-01 3.56150433e-01 7.76074429e-02 1.22195470e+02] [-3.54635045e-01 9.34423213e-01 -3.29733861e-02 -2.54913427e+01] [-8.42616819e-02 3.18250722e-03 9.96438578e-01 -1.28771488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.307719421 meters 0.06045716433147897 Centerline is valid? [True, True] Translation: X:122.23, Y:-25.49, Z:-12.88 [[ 9.29700027e-01 3.59905544e-01 7.82678729e-02 1.22227980e+02] [-3.58374553e-01 9.32984243e-01 -3.32878571e-02 -2.54911573e+01] [-8.50031764e-02 2.89850764e-03 9.96376464e-01 -1.28816581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.337719421 meters 0.06017430944523472 Centerline is valid? [True, True] Translation: X:122.26, Y:-25.50, Z:-12.89 [[ 9.28924489e-01 3.61910610e-01 7.82304559e-02 1.22258085e+02] [-3.60388408e-01 9.32208861e-01 -3.32691407e-02 -2.54992455e+01] [-8.49675792e-02 2.71117009e-03 9.96380028e-01 -1.28853147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36771942099999 meters 0.05855533442369463 Centerline is valid? [True, True] Translation: X:122.29, Y:-25.50, Z:-12.89 [[ 9.28100533e-01 3.64282034e-01 7.69935038e-02 1.22292059e+02] [-3.62813437e-01 9.31285372e-01 -3.27714100e-02 -2.55023303e+01] [-8.36409598e-02 2.48088536e-03 9.96492868e-01 -1.28882096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39771942099999 meters 0.05794565528093157 Centerline is valid? [True, True] Translation: X:122.32, Y:-25.51, Z:-12.89 [[ 9.27970557e-01 3.64416595e-01 7.79178427e-02 1.22324517e+02] [-3.62912046e-01 9.31232653e-01 -3.31751875e-02 -2.55090812e+01] [-8.46492282e-02 2.50827355e-03 9.96407656e-01 -1.28912961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42771942099999 meters 0.05865155575015539 Centerline is valid? [True, True] Translation: X:122.36, Y:-25.51, Z:-12.90 [[ 9.28495502e-01 3.62915205e-01 7.86680151e-02 1.22355519e+02] [-3.61375239e-01 9.31818314e-01 -3.35047233e-02 -2.55134115e+01] [-8.54636707e-02 2.68031207e-03 9.96337682e-01 -1.28970234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.457719421 meters 0.060422651862248516 Centerline is valid? [True, True] Translation: X:122.38, Y:-25.53, Z:-12.90 [[ 9.29138341e-01 3.61312651e-01 7.84545185e-02 1.22383103e+02] [-3.59774282e-01 9.32440427e-01 -3.34262873e-02 -2.55272080e+01] [-8.52315052e-02 2.83172709e-03 9.96357151e-01 -1.29015880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.487719421 meters 0.06248256667792577 Centerline is valid? [True, True] Translation: X:122.41, Y:-25.54, Z:-12.90 [[ 9.30969477e-01 3.56333660e-01 7.95119863e-02 1.22411186e+02] [-3.54732452e-01 9.34352722e-01 -3.39098575e-02 -2.55399965e+01] [-8.63754645e-02 3.36356042e-03 9.96256978e-01 -1.29027856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.517719421 meters 0.06266911959043191 Centerline is valid? [True, True] Translation: X:122.44, Y:-25.55, Z:-12.90 [[ 9.31706859e-01 3.53864201e-01 8.18685284e-02 1.22441705e+02] [-3.52157132e-01 9.35289502e-01 -3.49127736e-02 -2.55501575e+01] [-8.89251559e-02 3.69788454e-03 9.96031446e-01 -1.29036003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.547719421 meters 0.06458768091810309 Centerline is valid? [True, True] Translation: X:122.47, Y:-25.56, Z:-12.90 [[ 9.33066052e-01 3.49211314e-01 8.62507958e-02 1.22472056e+02] [-3.47292866e-01 9.37033673e-01 -3.68179494e-02 -2.55586045e+01] [-9.36771445e-02 4.39929272e-03 9.95592908e-01 -1.29043555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.577719421 meters 0.06483989265882639 Centerline is valid? [True, True] Translation: X:122.50, Y:-25.57, Z:-12.91 [[ 9.33515713e-01 3.47663083e-01 8.76287267e-02 1.22503652e+02] [-3.45675639e-01 9.37608095e-01 -3.74087300e-02 -2.55671068e+01] [-9.51670379e-02 4.63052110e-03 9.95450548e-01 -1.29069606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.607719421 meters 0.06561648763431743 Centerline is valid? [True, True] Translation: X:122.54, Y:-25.57, Z:-12.91 [[ 9.33824797e-01 3.46821824e-01 8.76690984e-02 1.22536018e+02] [-3.44825683e-01 9.37919007e-01 -3.74591155e-02 -2.55710859e+01] [-9.52181524e-02 4.74969426e-03 9.95445098e-01 -1.29110506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.637719421 meters 0.06633911286510766 Centerline is valid? [True, True] Translation: X:122.57, Y:-25.58, Z:-12.92 [[ 9.33878352e-01 3.46948853e-01 8.65893589e-02 1.22565943e+02] [-3.44999457e-01 9.37872246e-01 -3.70273561e-02 -2.55793973e+01] [-9.40563552e-02 4.70576452e-03 9.95555753e-01 -1.29158417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.667719421 meters 0.06678998206363781 Centerline is valid? [True, True] Translation: X:122.60, Y:-25.58, Z:-12.92 [[ 9.34404640e-01 3.45883198e-01 8.51632653e-02 1.22599136e+02] [-3.43990609e-01 9.38265504e-01 -3.64459068e-02 -2.55825858e+01] [-9.25117809e-02 4.75986098e-03 9.95700213e-01 -1.29208294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.697719421 meters 0.06720781081090707 Centerline is valid? [True, True] Translation: X:122.63, Y:-25.59, Z:-12.92 [[ 9.34444176e-01 3.45688218e-01 8.55203907e-02 1.22630373e+02] [-3.43775877e-01 9.38337003e-01 -3.66307959e-02 -2.55909980e+01] [-9.29097816e-02 4.82958661e-03 9.95662818e-01 -1.29246520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72771942099999 meters 0.06572378108444143 Centerline is valid? [True, True] Translation: X:122.67, Y:-25.59, Z:-12.93 [[ 9.34323920e-01 3.45684832e-01 8.68378394e-02 1.22666869e+02] [-3.43709884e-01 9.38337700e-01 -3.72273674e-02 -2.55881529e+01] [-9.43521547e-02 4.93539613e-03 9.95526651e-01 -1.29275791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75771942099999 meters 0.06728628832067901 Centerline is valid? [True, True] Translation: X:122.70, Y:-25.60, Z:-12.93 [[ 9.34048743e-01 3.46523601e-01 8.64542625e-02 1.22696692e+02] [-3.44566053e-01 9.38028636e-01 -3.71013862e-02 -2.55965534e+01] [-9.39530799e-02 4.86529921e-03 9.95564738e-01 -1.29311296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78771942099999 meters 0.06526421849010096 Centerline is valid? [True, True] Translation: X:122.73, Y:-25.59, Z:-12.93 [[ 9.33268600e-01 3.48971946e-01 8.50194107e-02 1.22732655e+02] [-3.47086397e-01 9.37122033e-01 -3.65147649e-02 -2.55940895e+01] [-9.24161916e-02 4.56900263e-03 9.95709984e-01 -1.29349514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81771942099999 meters 0.06376397163699472 Centerline is valid? [True, True] Translation: X:122.77, Y:-25.59, Z:-12.94 [[ 9.31882626e-01 3.52633870e-01 8.51124273e-02 1.22766638e+02] [-3.50756126e-01 9.35751755e-01 -3.65895154e-02 -2.55916987e+01] [-9.25468056e-02 4.24342836e-03 9.95699293e-01 -1.29389643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.847719421 meters 0.0628382587951344 Centerline is valid? [True, True] Translation: X:122.80, Y:-25.60, Z:-12.94 [[ 9.30908877e-01 3.55166619e-01 8.52369356e-02 1.22798772e+02] [-3.53293500e-01 9.34794447e-01 -3.66475901e-02 -2.55961420e+01] [-9.26950147e-02 4.00191165e-03 9.95686506e-01 -1.29422909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.877719421 meters 0.059102776899347745 Centerline is valid? [True, True] Translation: X:122.84, Y:-25.59, Z:-12.95 [[ 9.28113423e-01 3.62725163e-01 8.38804519e-02 1.22835053e+02] [-3.60941537e-01 9.31890666e-01 -3.60692830e-02 -2.55883742e+01] [-9.12506467e-02 3.20044645e-03 9.95822814e-01 -1.29455882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.907719421 meters 0.05789356980881975 Centerline is valid? [True, True] Translation: X:122.87, Y:-25.59, Z:-12.95 [[ 9.26075942e-01 3.67965114e-01 8.35764567e-02 1.22865601e+02] [-3.66215627e-01 9.29835749e-01 -3.59387684e-02 -2.55916193e+01] [-9.09365902e-02 2.67502429e-03 9.95853092e-01 -1.29493579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.937719421 meters 0.05483830084008861 Centerline is valid? [True, True] Translation: X:122.90, Y:-25.58, Z:-12.96 [[ 9.21788890e-01 3.79069959e-01 8.13093345e-02 1.22900055e+02] [-3.77457316e-01 9.25366740e-01 -3.49624328e-02 -2.55828554e+01] [-8.84941617e-02 1.53717893e-03 9.96075509e-01 -1.29554823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.967719421 meters 0.0539315419239844 Centerline is valid? [True, True] Translation: X:122.93, Y:-25.59, Z:-12.96 [[ 9.19806125e-01 3.84091697e-01 8.01889027e-02 1.22930652e+02] [-3.82542685e-01 9.23294371e-01 -3.44760559e-02 -2.55850696e+01] [-8.72799293e-02 1.03560917e-03 9.96183287e-01 -1.29600352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.997719421 meters 0.05324995091719769 Centerline is valid? [True, True] Translation: X:122.97, Y:-25.58, Z:-12.96 [[ 9.15623061e-01 3.94068052e-01 7.96541286e-02 1.22965611e+02] [-3.92578239e-01 9.19081261e-01 -3.42339269e-02 -2.55778170e+01] [-8.66991139e-02 7.48954587e-05 9.96234540e-01 -1.29624659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.027719421 meters 0.0534431144500662 Centerline is valid? [True, True] Translation: X:122.99, Y:-25.58, Z:-12.97 [[ 9.13760818e-01 3.98502128e-01 7.89760778e-02 1.22994064e+02] [-3.97056755e-01 9.17167333e-01 -3.39118896e-02 -2.55799498e+01] [-8.59482388e-02 -3.70629221e-04 9.96299535e-01 -1.29675748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.057719421 meters 0.054394231788967184 Centerline is valid? [True, True] Translation: X:123.02, Y:-25.58, Z:-12.97 [[ 9.10457867e-01 4.06162838e-01 7.80911142e-02 1.23024264e+02] [-4.04778846e-01 9.13800064e-01 -3.35190805e-02 -2.55811898e+01] [-8.49738700e-02 -1.09192058e-03 9.96382582e-01 -1.29696938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.087719421 meters 0.0548501754526865 Centerline is valid? [True, True] Translation: X:123.05, Y:-25.59, Z:-12.97 [[ 9.09489795e-01 4.08455328e-01 7.74116115e-02 1.23050265e+02] [-4.07104522e-01 9.12777379e-01 -3.32169258e-02 -2.55901338e+01] [-8.42271982e-02 -1.30416198e-03 9.96445723e-01 -1.29731291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11771942099999 meters 0.055179713078440086 Centerline is valid? [True, True] Translation: X:123.08, Y:-25.60, Z:-12.98 [[ 9.08905360e-01 4.09933738e-01 7.64550657e-02 1.23075874e+02] [-4.08621865e-01 9.12114187e-01 -3.28006358e-02 -2.56021964e+01] [-8.31818373e-02 -1.42853782e-03 9.96533362e-01 -1.29770211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14771942099999 meters 0.0552676692648621 Centerline is valid? [True, True] Translation: X:123.10, Y:-25.61, Z:-12.98 [[ 9.08517660e-01 4.10527074e-01 7.78664500e-02 1.23101880e+02] [-4.09171221e-01 9.11847108e-01 -3.33730932e-02 -2.56129805e+01] [-8.47028555e-02 -1.54066590e-03 9.96405065e-01 -1.29799403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17771942099999 meters 0.0547582351073372 Centerline is valid? [True, True] Translation: X:123.13, Y:-25.63, Z:-12.98 [[ 9.08895239e-01 4.09069605e-01 8.10648026e-02 1.23127217e+02] [-4.07595406e-01 9.12501988e-01 -3.47290555e-02 -2.56264054e+01] [-8.81783946e-02 -1.47656796e-03 9.96103604e-01 -1.29810252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.207719421 meters 0.05487287373360002 Centerline is valid? [True, True] Translation: X:123.15, Y:-25.64, Z:-12.99 [[ 9.09194808e-01 4.08519829e-01 8.04757778e-02 1.23151663e+02] [-4.07067709e-01 9.12748305e-01 -3.44443303e-02 -2.56379476e+01] [-8.75253217e-02 -1.44248421e-03 9.96161251e-01 -1.29856918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.237719421 meters 0.0548116955262748 Centerline is valid? [True, True] Translation: X:123.17, Y:-25.66, Z:-12.99 [[ 9.10289370e-01 4.06542640e-01 7.80790961e-02 1.23173806e+02] [-4.05169865e-01 9.13630983e-01 -3.34036928e-02 -2.56562050e+01] [-8.49155068e-02 -1.22827032e-03 9.96387399e-01 -1.29924361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.267719421 meters 0.05466475721376138 Centerline is valid? [True, True] Translation: X:123.20, Y:-25.67, Z:-13.00 [[ 9.10628646e-01 4.05934787e-01 7.72814230e-02 1.23198666e+02] [-4.04588263e-01 9.13901303e-01 -3.30567088e-02 -2.56712257e+01] [-8.40464612e-02 -1.16477067e-03 9.96461156e-01 -1.29956695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.297719421 meters 0.054150741722118284 Centerline is valid? [True, True] Translation: X:123.22, Y:-25.69, Z:-13.00 [[ 9.11034802e-01 4.04928258e-01 7.77733603e-02 1.23221973e+02] [-4.03563585e-01 9.14347788e-01 -3.32348585e-02 -2.56902785e+01] [-8.45696333e-02 -1.10838334e-03 9.96416955e-01 -1.29975642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.327719421 meters 0.05413640418009556 Centerline is valid? [True, True] Translation: X:123.24, Y:-25.70, Z:-13.00 [[ 9.11548762e-01 4.03840155e-01 7.74078990e-02 1.23244841e+02] [-4.02484821e-01 9.14829008e-01 -3.30734751e-02 -2.57041997e+01] [-8.41713888e-02 -1.00741905e-03 9.96450783e-01 -1.30015221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.357719421 meters 0.05386329633632452 Centerline is valid? [True, True] Translation: X:123.27, Y:-25.72, Z:-13.01 [[ 9.12374434e-01 4.02110305e-01 7.66824296e-02 1.23269512e+02] [-4.00776293e-01 9.15590825e-01 -3.27384277e-02 -2.57192729e+01] [-8.33741881e-02 -8.62795470e-04 9.96517938e-01 -1.30052221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.387719421 meters 0.05331025884624161 Centerline is valid? [True, True] Translation: X:123.29, Y:-25.74, Z:-13.01 [[ 9.14163182e-01 3.97793761e-01 7.78832464e-02 1.23290469e+02] [-3.96402506e-01 9.17474736e-01 -3.32439809e-02 -2.57395549e+01] [-8.46801591e-02 -4.82690647e-04 9.96408068e-01 -1.30085282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.417719421 meters 0.05280578666901024 Centerline is valid? [True, True] Translation: X:123.31, Y:-25.76, Z:-13.01 [[ 9.17581358e-01 3.89446436e-01 7.98493949e-02 1.23310960e+02] [-3.87953643e-01 9.21049073e-01 -3.40672309e-02 -2.57642809e+01] [-8.68125728e-02 2.81592260e-04 9.96224622e-01 -1.30092717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.447719421 meters 0.0531627720195014 Centerline is valid? [True, True] Translation: X:123.33, Y:-25.78, Z:-13.01 [[ 9.19477091e-01 3.85270725e-01 7.82837613e-02 1.23334126e+02] [-3.83821539e-01 9.22803359e-01 -3.33914307e-02 -2.57817792e+01] [-8.51052586e-02 6.55661882e-04 9.96371750e-01 -1.30141919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47771942099999 meters 0.05399562500335898 Centerline is valid? [True, True] Translation: X:123.36, Y:-25.80, Z:-13.02 [[ 9.21773703e-01 3.79596854e-01 7.89903055e-02 1.23355764e+02] [-3.78101199e-01 9.25151246e-01 -3.36846458e-02 -2.58042573e+01] [-8.58645652e-02 1.18329147e-03 9.96306116e-01 -1.30162218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50771942099999 meters 0.05402002550057636 Centerline is valid? [True, True] Translation: X:123.38, Y:-25.82, Z:-13.02 [[ 9.22247164e-01 3.77942099e-01 8.13629990e-02 1.23381056e+02] [-3.76349442e-01 9.25828221e-01 -3.46872156e-02 -2.58201390e+01] [-8.84379197e-02 1.36926694e-03 9.96080749e-01 -1.30167115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53771942099999 meters 0.053863893698163065 Centerline is valid? [True, True] Translation: X:123.41, Y:-25.83, Z:-13.02 [[ 9.22144953e-01 3.77960059e-01 8.24310532e-02 1.23406189e+02] [-3.76325587e-01 9.25820869e-01 -3.51393005e-02 -2.58332182e+01] [-8.95976414e-02 1.38261414e-03 9.95977084e-01 -1.30181087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56771942099999 meters 0.05356827486758779 Centerline is valid? [True, True] Translation: X:123.43, Y:-25.84, Z:-13.02 [[ 9.21480805e-01 3.79880824e-01 8.10165810e-02 1.23431354e+02] [-3.78310424e-01 9.25034703e-01 -3.45256632e-02 -2.58434967e+01] [-8.80587863e-02 1.16531882e-03 9.96114598e-01 -1.30236642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.597719421 meters 0.05297737660566507 Centerline is valid? [True, True] Translation: X:123.46, Y:-25.85, Z:-13.03 [[ 9.20033888e-01 3.84019275e-01 7.78899356e-02 1.23460858e+02] [-3.82583630e-01 9.23324788e-01 -3.31828599e-02 -2.58492046e+01] [-8.46605660e-02 7.29941300e-04 9.96409582e-01 -1.30290425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.627719421 meters 0.052913175747579325 Centerline is valid? [True, True] Translation: X:123.49, Y:-25.86, Z:-13.03 [[ 9.18696390e-01 3.87343508e-01 7.72136615e-02 1.23487449e+02] [-3.85944657e-01 9.21935373e-01 -3.28920837e-02 -2.58575480e+01] [-8.39265409e-02 4.17638441e-04 9.96471857e-01 -1.30345626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.657719421 meters 0.052616399055964116 Centerline is valid? [True, True] Translation: X:123.52, Y:-25.86, Z:-13.03 [[ 9.16221832e-01 3.93246235e-01 7.67785964e-02 1.23515941e+02] [-3.91884626e-01 9.19433185e-01 -3.26964627e-02 -2.58646658e+01] [-8.34505503e-02 -1.31138520e-04 9.96511911e-01 -1.30343594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.687719421 meters 0.052644749755671606 Centerline is valid? [True, True] Translation: X:123.54, Y:-25.87, Z:-13.04 [[ 9.14999811e-01 3.96361298e-01 7.53197706e-02 1.23543115e+02] [-3.95062164e-01 9.18094521e-01 -3.20676897e-02 -2.58736409e+01] [-8.18610598e-02 -4.14061597e-04 9.96643665e-01 -1.30370427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.717719421 meters 0.05289236082105874 Centerline is valid? [True, True] Translation: X:123.57, Y:-25.88, Z:-13.04 [[ 9.13634441e-01 3.99462797e-01 7.55088173e-02 1.23569783e+02] [-3.98168314e-01 9.16749139e-01 -3.21404867e-02 -2.58804787e+01] [-8.20615719e-02 -7.00562871e-04 9.96627015e-01 -1.30411263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.747719421 meters 0.05421180962954629 Centerline is valid? [True, True] Translation: X:123.60, Y:-25.88, Z:-13.04 [[ 9.09757257e-01 4.07547301e-01 7.90375299e-02 1.23599411e+02] [-4.06160079e-01 9.13182857e-01 -3.36312226e-02 -2.58810175e+01] [-8.58820314e-02 -1.50564063e-03 9.96304175e-01 -1.30430603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.777719421 meters 0.056251845153076886 Centerline is valid? [True, True] Translation: X:123.63, Y:-25.89, Z:-13.05 [[ 9.06604332e-01 4.14849259e-01 7.72572166e-02 1.23629522e+02] [-4.13551230e-01 9.09887598e-01 -3.28624229e-02 -2.58857835e+01] [-8.39283351e-02 -2.15660198e-03 9.96469459e-01 -1.30485475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.807719421 meters 0.0590114678590773 Centerline is valid? [True, True] Translation: X:123.66, Y:-25.89, Z:-13.06 [[ 9.05501033e-01 4.17489997e-01 7.59603957e-02 1.23658041e+02] [-4.16244579e-01 9.08678450e-01 -3.23098218e-02 -2.58904978e+01] [-8.25126021e-02 -2.36152590e-03 9.96587223e-01 -1.30565539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.837719421 meters 0.058059953569953714 Centerline is valid? [True, True] Translation: X:123.68, Y:-25.91, Z:-13.06 [[ 9.04364405e-01 4.20074148e-01 7.52511360e-02 1.23683369e+02] [-4.18861279e-01 9.07486124e-01 -3.20025549e-02 -2.59058601e+01] [-8.17328077e-02 -2.57781554e-03 9.96650943e-01 -1.30568377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86771942099999 meters 0.058059953569953714 Centerline is valid? [True, True] Translation: X:123.71, Y:-25.92, Z:-13.06 [[ 9.04418980e-01 4.19956353e-01 7.52527036e-02 1.23708628e+02] [-4.18743384e-01 9.07540661e-01 -3.19988686e-02 -2.59164294e+01] [-8.17330165e-02 -2.57118769e-03 9.96650943e-01 -1.30596555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89771942099999 meters 0.05979645073241184 Centerline is valid? [True, True] Translation: X:123.73, Y:-25.93, Z:-13.06 [[ 9.03155118e-01 4.22885225e-01 7.40197297e-02 1.23734849e+02] [-4.21722510e-01 9.06178925e-01 -3.14623633e-02 -2.59264511e+01] [-8.03800876e-02 -2.80039170e-03 9.96760352e-01 -1.30641909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92771942099999 meters 0.06386227250619961 Centerline is valid? [True, True] Translation: X:123.76, Y:-25.93, Z:-13.07 [[ 9.02555329e-01 4.24158233e-01 7.40518120e-02 1.23762119e+02] [-4.22999194e-01 9.05583386e-01 -3.14708321e-02 -2.59305712e+01] [-8.04087032e-02 -2.91968953e-03 9.96757702e-01 -1.30716257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.957719421 meters 0.061129155437539884 Centerline is valid? [True, True] Translation: X:123.78, Y:-25.95, Z:-13.07 [[ 9.01580845e-01 4.26216323e-01 7.41055096e-02 1.23784975e+02] [-4.25063988e-01 9.04615885e-01 -3.14754883e-02 -2.59500495e+01] [-8.04523880e-02 -3.12188610e-03 9.96753564e-01 -1.30694544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.987719421 meters 0.06117426426635734 Centerline is valid? [True, True] Translation: X:123.81, Y:-25.96, Z:-13.07 [[ 9.01165748e-01 4.27267942e-01 7.30917293e-02 1.23810373e+02] [-4.26151122e-01 9.04119459e-01 -3.10358736e-02 -2.59621358e+01] [-7.93442886e-02 -3.17965623e-03 9.96842201e-01 -1.30726145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.017719421 meters 0.06336982439224001 Centerline is valid? [True, True] Translation: X:123.84, Y:-25.97, Z:-13.08 [[ 9.00366775e-01 4.29066959e-01 7.23962301e-02 1.23835673e+02] [-4.27977866e-01 9.03266603e-01 -3.07309336e-02 -2.59745706e+01] [-7.85787251e-02 -3.31487242e-03 9.96902400e-01 -1.30779634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.047719421 meters 0.06204955395462417 Centerline is valid? [True, True] Translation: X:123.86, Y:-26.00, Z:-13.08 [[ 8.99818755e-01 4.29941642e-01 7.40026470e-02 1.23857861e+02] [-4.28807213e-01 9.02849995e-01 -3.14047813e-02 -2.59971774e+01] [-8.03155128e-02 -3.47425758e-03 9.96763436e-01 -1.30775675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.077719421 meters 0.0631421760353944 Centerline is valid? [True, True] Translation: X:123.88, Y:-26.01, Z:-13.08 [[ 8.99726727e-01 4.29926477e-01 7.52000056e-02 1.23883147e+02] [-4.28755454e-01 9.02856980e-01 -3.19066307e-02 -2.60090630e+01] [-8.16123553e-02 -3.53516415e-03 9.96657878e-01 -1.30806067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.107719421 meters 0.06285042416634633 Centerline is valid? [True, True] Translation: X:123.91, Y:-26.02, Z:-13.08 [[ 8.99682001e-01 4.30039741e-01 7.50874078e-02 1.23907784e+02] [-4.28873919e-01 9.02802961e-01 -3.18429788e-02 -2.60236199e+01] [-8.14828805e-02 -3.55447592e-03 9.96668403e-01 -1.30837465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.137719421 meters 0.06277048119556426 Centerline is valid? [True, True] Translation: X:123.93, Y:-26.04, Z:-13.09 [[ 8.99798999e-01 4.30083896e-01 7.34139239e-02 1.23930419e+02] [-4.28970235e-01 9.02782198e-01 -3.11262059e-02 -2.60430428e+01] [-7.96636635e-02 -3.48505923e-03 9.96815708e-01 -1.30874066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.167719421 meters 0.06316620994618007 Centerline is valid? [True, True] Translation: X:123.95, Y:-26.06, Z:-13.09 [[ 9.00001517e-01 4.30072481e-01 7.09572479e-02 1.23952450e+02] [-4.29032683e-01 9.02788062e-01 -3.00777752e-02 -2.60633507e+01] [-7.69949797e-02 -3.37293511e-03 9.97025775e-01 -1.30923070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.197719421 meters 0.06326297856447549 Centerline is valid? [True, True] Translation: X:123.98, Y:-26.08, Z:-13.10 [[ 9.00333959e-01 4.29670309e-01 6.91533667e-02 1.23977366e+02] [-4.28682085e-01 9.02979957e-01 -2.93064352e-02 -2.60782522e+01] [-7.50362092e-02 -3.25923054e-03 9.97175483e-01 -1.30966561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22771942099999 meters 0.06359770581960092 Centerline is valid? [True, True] Translation: X:124.00, Y:-26.09, Z:-13.10 [[ 9.00470781e-01 4.29609740e-01 6.77336190e-02 1.24002047e+02] [-4.28661985e-01 9.03009014e-01 -2.86988350e-02 -2.60916085e+01] [-7.34933675e-02 -3.19236518e-03 9.97290596e-01 -1.31010437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25771942099999 meters 0.0639879329676224 Centerline is valid? [True, True] Translation: X:124.03, Y:-26.11, Z:-13.10 [[ 9.00328771e-01 4.29629387e-01 6.94744053e-02 1.24025218e+02] [-4.28632969e-01 9.02999336e-01 -2.94274890e-02 -2.61072205e+01] [-7.53782560e-02 -3.28460561e-03 9.97149603e-01 -1.31027586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28771942099999 meters 0.06438567388434957 Centerline is valid? [True, True] Translation: X:124.05, Y:-26.12, Z:-13.11 [[ 8.99965043e-01 4.30438154e-01 6.91803244e-02 1.24050490e+02] [-4.29453220e-01 9.02613870e-01 -2.92939147e-02 -2.61217157e+01] [-7.50523389e-02 -3.34621393e-03 9.97173981e-01 -1.31050022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31771942099999 meters 0.06546617562451086 Centerline is valid? [True, True] Translation: X:124.07, Y:-26.14, Z:-13.11 [[ 8.99427868e-01 4.31438406e-01 6.99314792e-02 1.24073719e+02] [-4.30435438e-01 9.02135711e-01 -2.96056297e-02 -2.61377027e+01] [-7.58606904e-02 -3.47285848e-03 9.97112378e-01 -1.31063943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.347719421 meters 0.06644269016455633 Centerline is valid? [True, True] Translation: X:124.10, Y:-26.15, Z:-13.11 [[ 8.98817367e-01 4.32783372e-01 6.94686497e-02 1.24097482e+02] [-4.31798279e-01 9.01490881e-01 -2.94013324e-02 -2.61540197e+01] [-7.53497620e-02 -3.57001519e-03 9.97150775e-01 -1.31101523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.377719421 meters 0.0658702881303855 Centerline is valid? [True, True] Translation: X:124.12, Y:-26.17, Z:-13.11 [[ 8.98250482e-01 4.33990893e-01 6.92674242e-02 1.24122574e+02] [-4.33015826e-01 9.00909784e-01 -2.93062287e-02 -2.61702099e+01] [-7.51223365e-02 -3.66955688e-03 9.97167573e-01 -1.31121115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.407719421 meters 0.06624084887469268 Centerline is valid? [True, True] Translation: X:124.15, Y:-26.19, Z:-13.11 [[ 8.96970163e-01 4.36447062e-01 7.04165377e-02 1.24148608e+02] [-4.35447316e-01 8.99721289e-01 -2.97865182e-02 -2.61890680e+01] [-7.63554965e-02 -3.94507428e-03 9.97072853e-01 -1.31136149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.437719421 meters 0.06934511401522223 Centerline is valid? [True, True] Translation: X:124.18, Y:-26.20, Z:-13.12 [[ 8.96485831e-01 4.37520138e-01 6.99234156e-02 1.24176815e+02] [-4.36537297e-01 8.99199696e-01 -2.95819961e-02 -2.61993989e+01] [-7.58178331e-02 -4.00433849e-03 9.97113645e-01 -1.31199752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.467719421 meters 0.07043572805069036 Centerline is valid? [True, True] Translation: X:124.20, Y:-26.22, Z:-13.12 [[ 8.95652951e-01 4.39564163e-01 6.77431817e-02 1.24201394e+02] [-4.38647314e-01 8.98202090e-01 -2.86625024e-02 -2.62173686e+01] [-7.34460763e-02 -4.04370989e-03 9.97290992e-01 -1.31245896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.497719421 meters 0.06798621282427159 Centerline is valid? [True, True] Translation: X:124.23, Y:-26.24, Z:-13.13 [[ 8.95246321e-01 4.40508616e-01 6.69789861e-02 1.24228062e+02] [-4.39615842e-01 8.97739089e-01 -2.83273669e-02 -2.62378988e+01] [-7.26081031e-02 -4.08505238e-03 9.97352182e-01 -1.31259574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.527719421 meters 0.06855443417300851 Centerline is valid? [True, True] Translation: X:124.26, Y:-26.25, Z:-13.13 [[ 8.95254667e-01 4.40563506e-01 6.65047274e-02 1.24256446e+02] [-4.39681613e-01 8.97712370e-01 -2.81527856e-02 -2.62522723e+01] [-7.21052064e-02 -4.03699314e-03 9.97388862e-01 -1.31298361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.557719421 meters 0.06790611117537264 Centerline is valid? [True, True] Translation: X:124.28, Y:-26.27, Z:-13.13 [[ 8.95762315e-01 4.39195366e-01 6.86826402e-02 1.24282284e+02] [-4.38248992e-01 8.98382516e-01 -2.90976870e-02 -2.62710595e+01] [-7.44828524e-02 -4.03548633e-03 9.97214129e-01 -1.31315246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.587719421 meters 0.06634155202052373 Centerline is valid? [True, True] Translation: X:124.31, Y:-26.30, Z:-13.13 [[ 8.97571216e-01 4.35693856e-01 6.73556001e-02 1.24305734e+02] [-4.34773662e-01 9.00087442e-01 -2.85387422e-02 -2.62954008e+01] [-7.30600844e-02 -3.66888733e-03 9.97320793e-01 -1.31341106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61771942099999 meters 0.06372255296200362 Centerline is valid? [True, True] Translation: X:124.33, Y:-26.32, Z:-13.14 [[ 8.99159372e-01 4.32495913e-01 6.67810482e-02 1.24330025e+02] [-4.31582333e-01 9.01629571e-01 -2.82985290e-02 -2.63180767e+01] [-7.24507660e-02 -3.37663304e-03 9.97366274e-01 -1.31356230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64771942099999 meters 0.062047499662926636 Centerline is valid? [True, True] Translation: X:124.35, Y:-26.34, Z:-13.14 [[ 9.02388928e-01 4.25393369e-01 6.88091872e-02 1.24352724e+02] [-4.24402330e-01 9.05003952e-01 -2.91634875e-02 -2.63390555e+01] [-7.46785405e-02 -2.88597120e-03 9.97203483e-01 -1.31402131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67771942099999 meters 0.06069196198744265 Centerline is valid? [True, True] Translation: X:124.38, Y:-26.36, Z:-13.14 [[ 9.03993658e-01 4.21819137e-01 6.97429675e-02 1.24379240e+02] [-4.20790613e-01 9.06676186e-01 -2.95559608e-02 -2.63567518e+01] [-7.57015577e-02 -2.62878492e-03 9.97127055e-01 -1.31426054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.707719421 meters 0.0584663066654122 Centerline is valid? [True, True] Translation: X:124.41, Y:-26.38, Z:-13.14 [[ 9.04729374e-01 4.20148829e-01 7.02831506e-02 1.24405155e+02] [-4.19099577e-01 9.07451735e-01 -2.97807685e-02 -2.63786319e+01] [-7.62909219e-02 -2.51210265e-03 9.97082436e-01 -1.31423312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.737719421 meters 0.05832099083613949 Centerline is valid? [True, True] Translation: X:124.43, Y:-26.40, Z:-13.15 [[ 9.05931370e-01 4.17760247e-01 6.90270231e-02 1.24430688e+02] [-4.16739436e-01 9.08554527e-01 -2.92731082e-02 -2.63985456e+01] [-7.49439552e-02 -2.24685568e-03 9.97185216e-01 -1.31468953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.767719421 meters 0.05898145602113898 Centerline is valid? [True, True] Translation: X:124.46, Y:-26.41, Z:-13.15 [[ 9.05033976e-01 4.19853281e-01 6.80935001e-02 1.24457817e+02] [-4.18863984e-01 9.07588911e-01 -2.89021026e-02 -2.64147373e+01] [-7.39355483e-02 -2.36452992e-03 9.97260219e-01 -1.31508086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.797719421 meters 0.060444120946975724 Centerline is valid? [True, True] Translation: X:124.49, Y:-26.43, Z:-13.16 [[ 9.03832992e-01 4.22509421e-01 6.76144391e-02 1.24486880e+02] [-4.21539788e-01 9.06354964e-01 -2.87208366e-02 -2.64257023e+01] [-7.34175066e-02 -2.54333660e-03 9.97298050e-01 -1.31556802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.827719421 meters 0.06213076309697385 Centerline is valid? [True, True] Translation: X:124.51, Y:-26.44, Z:-13.16 [[ 9.01232553e-01 4.28134907e-01 6.69356923e-02 1.24515000e+02] [-4.27197937e-01 9.03710039e-01 -2.84620420e-02 -2.64389706e+01] [-7.26760508e-02 -2.94387088e-03 9.97351255e-01 -1.31578897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.857719421 meters 0.06256424945524833 Centerline is valid? [True, True] Translation: X:124.54, Y:-26.45, Z:-13.16 [[ 9.00118104e-01 4.30465013e-01 6.69870960e-02 1.24544195e+02] [-4.29533053e-01 9.02601821e-01 -2.84834987e-02 -2.64523197e+01] [-7.27238244e-02 -3.13465903e-03 9.97347191e-01 -1.31608193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.887719421 meters 0.06400039469605087 Centerline is valid? [True, True] Translation: X:124.57, Y:-26.46, Z:-13.16 [[ 8.98445216e-01 4.33818749e-01 6.78047729e-02 1.24573186e+02] [-4.32872760e-01 9.00993595e-01 -2.88394863e-02 -2.64637195e+01] [-7.36027760e-02 -3.44014063e-03 9.97281704e-01 -1.31645889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.917719421 meters 0.06674195602369495 Centerline is valid? [True, True] Translation: X:124.60, Y:-26.47, Z:-13.17 [[ 8.97704843e-01 4.35412775e-01 6.73923552e-02 1.24603011e+02] [-4.34483027e-01 9.00223914e-01 -2.86601467e-02 -2.64725126e+01] [-7.31472038e-02 -3.55248203e-03 9.97314828e-01 -1.31713283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.947719421 meters 0.06614017190467689 Centerline is valid? [True, True] Translation: X:124.63, Y:-26.49, Z:-13.17 [[ 8.96526696e-01 4.38016535e-01 6.61921282e-02 1.24627824e+02] [-4.37124608e-01 8.98959419e-01 -2.81787192e-02 -2.64935564e+01] [-7.18467820e-02 -3.67123405e-03 9.97408924e-01 -1.31724268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97771942099999 meters 0.0676430213257995 Centerline is valid? [True, True] Translation: X:124.66, Y:-26.51, Z:-13.17 [[ 8.95893458e-01 4.39140347e-01 6.73102366e-02 1.24656278e+02] [-4.38221706e-01 8.98410303e-01 -2.86472323e-02 -2.65068151e+01] [-7.30523656e-02 -3.83193876e-03 9.97320745e-01 -1.31749636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.007719421 meters 0.06727708741072674 Centerline is valid? [True, True] Translation: X:124.68, Y:-26.52, Z:-13.18 [[ 8.94635687e-01 4.41485908e-01 6.86817380e-02 1.24684316e+02] [-4.40534311e-01 8.97258898e-01 -2.92573232e-02 -2.65225906e+01] [-7.45419965e-02 -4.08201667e-03 9.97209521e-01 -1.31757669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.037719421 meters 0.0682949863103503 Centerline is valid? [True, True] Translation: X:124.71, Y:-26.53, Z:-13.18 [[ 8.93718162e-01 4.43265050e-01 6.91660545e-02 1.24713885e+02] [-4.42303123e-01 8.96380590e-01 -2.94921060e-02 -2.65333965e+01] [-7.50719286e-02 -4.23473112e-03 9.97169129e-01 -1.31796341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.067719421 meters 0.06831304275559853 Centerline is valid? [True, True] Translation: X:124.74, Y:-26.55, Z:-13.18 [[ 8.92792856e-01 4.44992221e-01 7.00202757e-02 1.24742089e+02] [-4.44010969e-01 8.95523495e-01 -2.98651707e-02 -2.65476556e+01] [-7.59945707e-02 -4.42635939e-03 9.97098407e-01 -1.31818827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.097719421 meters 0.06730601504648122 Centerline is valid? [True, True] Translation: X:124.77, Y:-26.57, Z:-13.18 [[ 8.92077589e-01 4.46514840e-01 6.94411530e-02 1.24768840e+02] [-4.45552256e-01 8.94764946e-01 -2.96458888e-02 -2.65676684e+01] [-7.53708388e-02 -4.49322940e-03 9.97145450e-01 -1.31836241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.127719421 meters 0.06982922934408232 Centerline is valid? [True, True] Translation: X:124.80, Y:-26.58, Z:-13.19 [[ 8.91333626e-01 4.48489526e-01 6.61930008e-02 1.24796068e+02] [-4.47619903e-01 8.93777083e-01 -2.82656672e-02 -2.65792279e+01] [-7.18386429e-02 -4.43516499e-03 9.97406406e-01 -1.31905071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.157719421 meters 0.06996706577144958 Centerline is valid? [True, True] Translation: X:124.82, Y:-26.59, Z:-13.19 [[ 8.90947665e-01 4.49271556e-01 6.60857539e-02 1.24824571e+02] [-4.48406954e-01 8.93383956e-01 -2.82189691e-02 -2.65934833e+01] [-7.17179325e-02 -4.49168699e-03 9.97414840e-01 -1.31942943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.187719421 meters 0.06880074558885518 Centerline is valid? [True, True] Translation: X:124.85, Y:-26.61, Z:-13.20 [[ 8.90970945e-01 4.49382792e-01 6.50067720e-02 1.24851499e+02] [-4.48545079e-01 8.93328422e-01 -2.77784517e-02 -2.66131073e+01] [-7.05555553e-02 -4.40867437e-03 9.97498109e-01 -1.31965540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.217719421 meters 0.06830155064796345 Centerline is valid? [True, True] Translation: X:124.88, Y:-26.63, Z:-13.20 [[ 8.91266634e-01 4.48890751e-01 6.43496699e-02 1.24879133e+02] [-4.48067162e-01 8.93576268e-01 -2.75185651e-02 -2.66289027e+01] [-6.98541672e-02 -4.30659507e-03 9.97547918e-01 -1.31998890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.247719421 meters 0.06854735517323693 Centerline is valid? [True, True] Translation: X:124.91, Y:-26.64, Z:-13.20 [[ 8.91394423e-01 4.48607497e-01 6.45546063e-02 1.24907169e+02] [-4.47776400e-01 8.93718639e-01 -2.76277031e-02 -2.66430467e+01] [-7.00876496e-02 -4.27884875e-03 9.97531660e-01 -1.32034249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.277719421 meters 0.06641277457596793 Centerline is valid? [True, True] Translation: X:124.93, Y:-26.66, Z:-13.20 [[ 8.92625422e-01 4.45934206e-01 6.60495246e-02 1.24931153e+02] [-4.45054588e-01 8.95056190e-01 -2.82989470e-02 -2.66644539e+01] [-7.17375043e-02 -4.13528445e-03 9.97414974e-01 -1.32042925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.307719421 meters 0.06690153601036321 Centerline is valid? [True, True] Translation: X:124.96, Y:-26.68, Z:-13.21 [[ 8.93592834e-01 4.43962434e-01 6.62510667e-02 1.24957177e+02] [-4.43072131e-01 8.96036514e-01 -2.83840064e-02 -2.66816909e+01] [-7.19648074e-02 -3.99025661e-03 9.97399190e-01 -1.32082214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.337719421 meters 0.06576922968595944 Centerline is valid? [True, True] Translation: X:124.98, Y:-26.70, Z:-13.21 [[ 8.93635392e-01 4.43814983e-01 6.66636783e-02 1.24984513e+02] [-4.42913468e-01 8.96109481e-01 -2.85562357e-02 -2.66990039e+01] [-7.24116394e-02 -4.00737805e-03 9.97366781e-01 -1.32100959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.367719421 meters 0.06620661310236386 Centerline is valid? [True, True] Translation: X:125.01, Y:-26.71, Z:-13.21 [[ 8.93794452e-01 4.43179332e-01 6.87281439e-02 1.25010479e+02] [-4.42216843e-01 8.96423823e-01 -2.94719118e-02 -2.67140546e+01] [-7.46708877e-02 -4.05091154e-03 9.97200004e-01 -1.32134814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.397719421 meters 0.06666314440323738 Centerline is valid? [True, True] Translation: X:125.04, Y:-26.73, Z:-13.22 [[ 8.93706078e-01 4.43296413e-01 6.91211743e-02 1.25038850e+02] [-4.42323616e-01 8.96365758e-01 -2.96352331e-02 -2.67273780e+01] [-7.50950463e-02 -4.08873985e-03 9.97167998e-01 -1.32167645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.427719421 meters 0.06707165402812888 Centerline is valid? [True, True] Translation: X:125.07, Y:-26.74, Z:-13.22 [[ 8.93619620e-01 4.43565779e-01 6.85082118e-02 1.25067010e+02] [-4.42609495e-01 8.96232637e-01 -2.93920802e-02 -2.67433298e+01] [-7.44366163e-02 -4.05704552e-03 9.97217494e-01 -1.32203332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.457719421 meters 0.06778510528691581 Centerline is valid? [True, True] Translation: X:125.10, Y:-26.76, Z:-13.22 [[ 8.93238540e-01 4.44401390e-01 6.80611189e-02 1.25095785e+02] [-4.43458384e-01 8.95818484e-01 -2.92216660e-02 -2.67578606e+01] [-7.39565573e-02 -4.08035555e-03 9.97253116e-01 -1.32245889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.487719421 meters 0.06901368024849548 Centerline is valid? [True, True] Translation: X:125.12, Y:-26.78, Z:-13.23 [[ 8.92854213e-01 4.45386131e-01 6.66524466e-02 1.25121879e+02] [-4.44482990e-01 8.95329403e-01 -2.86379315e-02 -2.67750492e+01] [-7.24308327e-02 -4.05638102e-03 9.97365189e-01 -1.32292124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.517719421 meters 0.06916554344010495 Centerline is valid? [True, True] Translation: X:125.15, Y:-26.79, Z:-13.23 [[ 8.92802187e-01 4.45560342e-01 6.61833460e-02 1.25150188e+02] [-4.44669116e-01 8.95242856e-01 -2.84535897e-02 -2.67909368e+01] [-7.19279588e-02 -4.02626285e-03 9.97401703e-01 -1.32335392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54771942099998 meters 0.06866310274414969 Centerline is valid? [True, True] Translation: X:125.18, Y:-26.81, Z:-13.24 [[ 8.93312593e-01 4.44259098e-01 6.80181146e-02 1.25177470e+02] [-4.43311548e-01 8.95889414e-01 -2.92750697e-02 -2.68078865e+01] [-7.39424249e-02 -4.00142724e-03 9.97254484e-01 -1.32376622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57771942099998 meters 0.06652645704049204 Centerline is valid? [True, True] Translation: X:125.20, Y:-26.83, Z:-13.24 [[ 8.93177035e-01 4.44447680e-01 6.85641629e-02 1.25204315e+02] [-4.43485536e-01 8.95795651e-01 -2.95081672e-02 -2.68261355e+01] [-7.45343154e-02 -4.05119727e-03 9.97210220e-01 -1.32393067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60771942099998 meters 0.06817395094877277 Centerline is valid? [True, True] Translation: X:125.23, Y:-26.84, Z:-13.24 [[ 8.94113789e-01 4.42306330e-01 7.01829302e-02 1.25232079e+02] [-4.41289250e-01 8.96855401e-01 -3.02355336e-02 -2.68373153e+01] [-7.63173079e-02 -3.93696512e-03 9.97075809e-01 -1.32443444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63771942099999 meters 0.0642616288354366 Centerline is valid? [True, True] Translation: X:125.26, Y:-26.86, Z:-13.24 [[ 8.94325180e-01 4.41719400e-01 7.11789546e-02 1.25257738e+02] [-4.40671834e-01 8.97144574e-01 -3.06585855e-02 -2.68592116e+01] [-7.74003049e-02 -3.94781544e-03 9.96992281e-01 -1.32428898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.667719421 meters 0.06313958311922739 Centerline is valid? [True, True] Translation: X:125.28, Y:-26.88, Z:-13.24 [[ 8.94971071e-01 4.40395135e-01 7.12664524e-02 1.25284692e+02] [-4.39338609e-01 8.97795962e-01 -3.07245305e-02 -2.68790050e+01] [-7.75136669e-02 -3.81253812e-03 9.96984000e-01 -1.32439136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.697719421 meters 0.06307958606904193 Centerline is valid? [True, True] Translation: X:125.31, Y:-26.89, Z:-13.25 [[ 8.95116365e-01 4.40175936e-01 7.07943395e-02 1.25312688e+02] [-4.39132428e-01 8.97903653e-01 -3.05244464e-02 -2.68945525e+01] [-7.70026228e-02 -3.76515863e-03 9.97023781e-01 -1.32467232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.727719421 meters 0.06222170288275708 Centerline is valid? [True, True] Translation: X:125.34, Y:-26.91, Z:-13.25 [[ 8.96224437e-01 4.37885099e-01 7.09816740e-02 1.25339857e+02] [-4.36826542e-01 8.99023935e-01 -3.06355586e-02 -2.69096419e+01] [-7.72290785e-02 -3.55034288e-03 9.97007053e-01 -1.32512041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.757719421 meters 0.06155770892380985 Centerline is valid? [True, True] Translation: X:125.37, Y:-26.92, Z:-13.26 [[ 8.96688363e-01 4.36918580e-01 7.10783698e-02 1.25368801e+02] [-4.35854351e-01 8.99494347e-01 -3.06741582e-02 -2.69232344e+01] [-7.73367015e-02 -3.47465603e-03 9.96998978e-01 -1.32553543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.787719421 meters 0.06155770892380985 Centerline is valid? [True, True] Translation: X:125.40, Y:-26.94, Z:-13.26 [[ 8.96548631e-01 4.37206568e-01 7.10701715e-02 1.25398361e+02] [-4.36141739e-01 8.99354388e-01 -3.06931392e-02 -2.69361966e+01] [-7.73365126e-02 -3.47877619e-03 9.96998978e-01 -1.32586869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.817719421 meters 0.06062675490462461 Centerline is valid? [True, True] Translation: X:125.42, Y:-26.95, Z:-13.26 [[ 8.98156486e-01 4.33781798e-01 7.17514997e-02 1.25424794e+02] [-4.32682768e-01 9.01012332e-01 -3.10225628e-02 -2.69511587e+01] [-7.81060092e-02 -3.18252146e-03 9.96939980e-01 -1.32626741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.847719421 meters 0.059288716897853457 Centerline is valid? [True, True] Translation: X:125.45, Y:-26.97, Z:-13.27 [[ 8.99619287e-01 4.30801990e-01 7.13777542e-02 1.25451590e+02] [-4.29704855e-01 9.02441798e-01 -3.08632264e-02 -2.69694346e+01] [-7.77102082e-02 -2.90621375e-03 9.96971754e-01 -1.32652215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.877719421 meters 0.05821001647861598 Centerline is valid? [True, True] Translation: X:125.48, Y:-26.99, Z:-13.27 [[ 9.01678758e-01 4.26632649e-01 7.04272726e-02 1.25478379e+02] [-4.25551538e-01 9.04421523e-01 -3.04564926e-02 -2.69870647e+01] [-7.66896753e-02 -2.50846174e-03 9.97051855e-01 -1.32691477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.907719421 meters 0.0556695918554275 Centerline is valid? [True, True] Translation: X:125.50, Y:-27.01, Z:-13.27 [[ 9.06031921e-01 4.17514707e-01 6.91926812e-02 1.25502345e+02] [-4.16443904e-01 9.08668582e-01 -2.99312853e-02 -2.70089103e+01] [-7.53699673e-02 -1.69617038e-03 9.97154196e-01 -1.32723478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.937719421 meters 0.05395585246267178 Centerline is valid? [True, True] Translation: X:125.53, Y:-27.03, Z:-13.27 [[ 9.09764268e-01 4.09072403e-01 7.06310619e-02 1.25527172e+02] [-4.07930900e-01 9.12501365e-01 -3.05555297e-02 -2.70273182e+01] [-7.69503643e-02 -1.01426358e-03 9.97034409e-01 -1.32746864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.967719421 meters 0.05342242066039891 Centerline is valid? [True, True] Translation: X:125.55, Y:-27.04, Z:-13.28 [[ 9.11655822e-01 4.04533509e-01 7.23622963e-02 1.25552999e+02] [-4.03320955e-01 9.14522948e-01 -3.13047031e-02 -2.70430221e+01] [-7.88407819e-02 -6.46115599e-04 9.96887011e-01 -1.32772489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.997719421 meters 0.0528902426041914 Centerline is valid? [True, True] Translation: X:125.58, Y:-27.06, Z:-13.28 [[ 9.14417745e-01 3.98126948e-01 7.30419085e-02 1.25579844e+02] [-3.96870502e-01 9.17330325e-01 -3.16050456e-02 -2.70603016e+01] [-7.95863780e-02 -8.79643782e-05 9.96827969e-01 -1.32798389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.027719421 meters 0.053021069821893314 Centerline is valid? [True, True] Translation: X:125.61, Y:-27.07, Z:-13.28 [[ 9.15546323e-01 3.95700975e-01 7.20809809e-02 1.25608647e+02] [-3.94468119e-01 9.18379398e-01 -3.12119367e-02 -2.70737569e+01] [-7.85482816e-02 1.42324873e-04 9.96910300e-01 -1.32843375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.057719421 meters 0.05304827073318184 Centerline is valid? [True, True] Translation: X:125.64, Y:-27.09, Z:-13.29 [[ 9.16327711e-01 3.93748384e-01 7.28404806e-02 1.25637139e+02] [-3.92481310e-01 9.19218199e-01 -3.15645945e-02 -2.70856618e+01] [-7.93848035e-02 3.34985426e-04 9.96843990e-01 -1.32870510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.087719421 meters 0.052815061331785075 Centerline is valid? [True, True] Translation: X:125.67, Y:-27.09, Z:-13.29 [[ 9.16536226e-01 3.93180745e-01 7.32819801e-02 1.25669441e+02] [-3.91894842e-01 9.19461113e-01 -3.17756930e-02 -2.70939283e+01] [-7.98735216e-02 4.04743748e-04 9.96804924e-01 -1.32875150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.117719421 meters 0.0531375563291213 Centerline is valid? [True, True] Translation: X:125.70, Y:-27.10, Z:-13.29 [[ 9.16194275e-01 3.94390273e-01 7.10236740e-02 1.25701333e+02] [-3.93183838e-01 9.18942986e-01 -3.08262472e-02 -2.70995882e+01] [-7.74242791e-02 3.17470404e-04 9.96998185e-01 -1.32910171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.147719421 meters 0.05332240671264987 Centerline is valid? [True, True] Translation: X:125.73, Y:-27.11, Z:-13.30 [[ 9.15955572e-01 3.95013993e-01 7.06352221e-02 1.25732387e+02] [-3.93821591e-01 9.18675062e-01 -3.06705896e-02 -2.71081343e+01] [-7.70061291e-02 2.75221953e-04 9.97030581e-01 -1.32972187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.177719421 meters 0.05333610336515391 Centerline is valid? [True, True] Translation: X:125.77, Y:-27.11, Z:-13.30 [[ 9.15202197e-01 3.96789674e-01 7.04478063e-02 1.25767234e+02] [-3.95608715e-01 9.17909548e-01 -3.05909564e-02 -2.71102978e+01] [-7.68028897e-02 1.27144423e-04 9.97046288e-01 -1.32992336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.207719421 meters 0.053392248658240084 Centerline is valid? [True, True] Translation: X:125.80, Y:-27.12, Z:-13.30 [[ 9.14548810e-01 3.98513197e-01 6.91932524e-02 1.25798713e+02] [-3.97376727e-01 9.17162598e-01 -3.00749818e-02 -2.71182597e+01] [-7.54467403e-02 9.25057558e-06 9.97149833e-01 -1.33027967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.237719421 meters 0.05368431667260112 Centerline is valid? [True, True] Translation: X:125.83, Y:-27.12, Z:-13.31 [[ 9.12748532e-01 4.02996680e-01 6.69611331e-02 1.25830821e+02] [-4.01942164e-01 9.15201384e-01 -2.91363020e-02 -2.71204114e+01] [-7.30247547e-02 -3.20385857e-04 9.97330077e-01 -1.33081142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.267719421 meters 0.05370968323164475 Centerline is valid? [True, True] Translation: X:125.86, Y:-27.13, Z:-13.31 [[ 9.11744332e-01 4.05269883e-01 6.69223119e-02 1.25862874e+02] [-4.04223139e-01 9.14196951e-01 -2.91133862e-02 -2.71280045e+01] [-7.29789521e-02 -5.07582183e-04 9.97333352e-01 -1.33116443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29771942099998 meters 0.053883634179378415 Centerline is valid? [True, True] Translation: X:125.90, Y:-27.13, Z:-13.32 [[ 9.10004141e-01 4.09255472e-01 6.63507443e-02 1.25896384e+02] [-4.08235110e-01 9.12419491e-01 -2.88923411e-02 -2.71307258e+01] [-7.23640610e-02 -7.94553402e-04 9.97377968e-01 -1.33158590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32771942099998 meters 0.054280281090169524 Centerline is valid? [True, True] Translation: X:125.93, Y:-27.14, Z:-13.32 [[ 9.09576748e-01 4.10401388e-01 6.51217310e-02 1.25926836e+02] [-4.09419464e-01 9.11904594e-01 -2.83850962e-02 -2.71387199e+01] [-7.10340886e-02 -8.43680725e-04 9.97473532e-01 -1.33214972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35771942099998 meters 0.05447030122262044 Centerline is valid? [True, True] Translation: X:125.96, Y:-27.14, Z:-13.33 [[ 9.08418564e-01 4.13169682e-01 6.37693157e-02 1.25959253e+02] [-4.12234507e-01 9.10653474e-01 -2.78021991e-02 -2.71447914e+01] [-6.95587746e-02 -1.03187863e-03 9.97577321e-01 -1.33252376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38771942099999 meters 0.05488837096486362 Centerline is valid? [True, True] Translation: X:125.99, Y:-27.15, Z:-13.33 [[ 9.07688369e-01 4.14868125e-01 6.31368678e-02 1.25989204e+02] [-4.13953906e-01 9.09880852e-01 -2.75499423e-02 -2.71534517e+01] [-6.88766200e-02 -1.12899079e-03 9.97624547e-01 -1.33297223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.417719421 meters 0.05515416179787343 Centerline is valid? [True, True] Translation: X:126.02, Y:-27.16, Z:-13.33 [[ 9.05837874e-01 4.18441505e-01 6.60640040e-02 1.26022212e+02] [-4.17448257e-01 9.08242600e-01 -2.88501805e-02 -2.71588083e+01] [-7.20742557e-02 -1.44471712e-03 9.97398223e-01 -1.33298772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.447719421 meters 0.05537528775394694 Centerline is valid? [True, True] Translation: X:126.05, Y:-27.17, Z:-13.33 [[ 9.04729703e-01 4.20746148e-01 6.66096394e-02 1.26053701e+02] [-4.19740919e-01 9.07176969e-01 -2.91119913e-02 -2.71676777e+01] [-7.26754890e-02 -1.62030805e-03 9.97354324e-01 -1.33317172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.477719421 meters 0.056646359466938606 Centerline is valid? [True, True] Translation: X:126.09, Y:-27.17, Z:-13.34 [[ 9.02568558e-01 4.25385991e-01 6.64586834e-02 1.26086039e+02] [-4.24396090e-01 9.05009884e-01 -2.90700825e-02 -2.71704436e+01] [-7.25117712e-02 -1.96706294e-03 9.97365617e-01 -1.33365603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.507719421 meters 0.05748030293085581 Centerline is valid? [True, True] Translation: X:126.12, Y:-27.18, Z:-13.34 [[ 9.01465175e-01 4.27723172e-01 6.64336209e-02 1.26116771e+02] [-4.26738769e-01 9.03907258e-01 -2.90807637e-02 -2.71784598e+01] [-7.24883486e-02 -2.13450587e-03 9.97366975e-01 -1.33411058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.537719421 meters 0.058012124262174704 Centerline is valid? [True, True] Translation: X:126.15, Y:-27.19, Z:-13.34 [[ 8.99857203e-01 4.30775859e-01 6.84775361e-02 1.26148105e+02] [-4.29737014e-01 9.02455670e-01 -2.99977125e-02 -2.71867329e+01] [-7.47202311e-02 -2.43367423e-03 9.97201567e-01 -1.33421025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.567719421 meters 0.05840458857952795 Centerline is valid? [True, True] Translation: X:126.18, Y:-27.20, Z:-13.35 [[ 8.99714056e-01 4.31009248e-01 6.88886423e-02 1.26176688e+02] [-4.29956687e-01 9.02344196e-01 -3.02026292e-02 -2.71978591e+01] [-7.51788790e-02 -2.44540235e-03 9.97167065e-01 -1.33451932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.597719421 meters 0.05780219710829081 Centerline is valid? [True, True] Translation: X:126.21, Y:-27.21, Z:-13.35 [[ 8.99881109e-01 4.30521265e-01 6.97526351e-02 1.26205789e+02] [-4.29438971e-01 9.02577203e-01 -3.06033171e-02 -2.72116596e+01] [-7.61325171e-02 -2.41515288e-03 9.97094783e-01 -1.33473516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.627719421 meters 0.0575354994739625 Centerline is valid? [True, True] Translation: X:126.23, Y:-27.22, Z:-13.35 [[ 9.00238293e-01 4.29806303e-01 6.95525610e-02 1.26233989e+02] [-4.28726217e-01 9.02918121e-01 -3.05400907e-02 -2.72243800e+01] [-7.59265912e-02 -2.32564730e-03 9.97110698e-01 -1.33512383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.657719421 meters 0.0563828629534204 Centerline is valid? [True, True] Translation: X:126.26, Y:-27.24, Z:-13.35 [[ 9.02206506e-01 4.25755282e-01 6.89627526e-02 1.26260034e+02] [-4.24679514e-01 9.04836266e-01 -3.03091018e-02 -2.72419051e+01] [-7.53042598e-02 -1.94199947e-03 9.97158712e-01 -1.33541994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.687719421 meters 0.056036182204276135 Centerline is valid? [True, True] Translation: X:126.29, Y:-27.26, Z:-13.36 [[ 9.03293221e-01 4.23485760e-01 6.87107613e-02 1.26286909e+02] [-4.22411538e-01 9.05901072e-01 -3.01950448e-02 -2.72563562e+01] [-7.50323237e-02 -1.74923914e-03 9.97179568e-01 -1.33588474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.717719421 meters 0.05519628671518265 Centerline is valid? [True, True] Translation: X:126.31, Y:-27.28, Z:-13.36 [[ 9.05356307e-01 4.19214058e-01 6.77460767e-02 1.26313687e+02] [-4.18155933e-01 9.07886418e-01 -2.97971187e-02 -2.72760620e+01] [-7.39971139e-02 -1.35141456e-03 9.97257540e-01 -1.33629107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.747719421 meters 0.05421356539108792 Centerline is valid? [True, True] Translation: X:126.34, Y:-27.29, Z:-13.36 [[ 9.06022062e-01 4.17751366e-01 6.78809199e-02 1.26340990e+02] [-4.16684773e-01 9.08560552e-01 -2.98583865e-02 -2.72937111e+01] [-7.41473078e-02 -1.23258880e-03 9.97246538e-01 -1.33627963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.777719421 meters 0.05399210864157678 Centerline is valid? [True, True] Translation: X:126.37, Y:-27.31, Z:-13.37 [[ 9.06828517e-01 4.15941407e-01 6.82260018e-02 1.26369781e+02] [-4.14856661e-01 9.09390793e-01 -3.00389251e-02 -2.73084694e+01] [-7.45385306e-02 -1.06385744e-03 9.97217567e-01 -1.33674325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.807719421 meters 0.053878488365956725 Centerline is valid? [True, True] Translation: X:126.40, Y:-27.32, Z:-13.37 [[ 9.06693896e-01 4.16252379e-01 6.81185421e-02 1.26399723e+02] [-4.15171391e-01 9.09248474e-01 -2.99988103e-02 -2.73227864e+01] [-7.44237566e-02 -1.08113161e-03 9.97226121e-01 -1.33700641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.837719421 meters 0.05463849363055851 Centerline is valid? [True, True] Translation: X:126.43, Y:-27.34, Z:-13.38 [[ 9.06253602e-01 4.17580019e-01 6.58128893e-02 1.26427770e+02] [-4.16572194e-01 9.08639463e-01 -2.90160955e-02 -2.73363767e+01] [-7.19167301e-02 -1.11987859e-03 9.97410011e-01 -1.33750694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.867719421 meters 0.05476926979945347 Centerline is valid? [True, True] Translation: X:126.46, Y:-27.35, Z:-13.38 [[ 9.05623299e-01 4.18968421e-01 6.56650756e-02 1.26457005e+02] [-4.17968255e-01 9.07999984e-01 -2.89580086e-02 -2.73496661e+01] [-7.17563788e-02 -1.22086975e-03 9.97421441e-01 -1.33777840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.897719421 meters 0.055307577122417885 Centerline is valid? [True, True] Translation: X:126.49, Y:-27.36, Z:-13.38 [[ 9.03578576e-01 4.23246593e-01 6.63933654e-02 1.26488727e+02] [-4.22233838e-01 9.06013191e-01 -2.93033220e-02 -2.73566453e+01] [-7.25557960e-02 -1.55567154e-03 9.97363142e-01 -1.33826812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.927719421 meters 0.05606261600115536 Centerline is valid? [True, True] Translation: X:126.52, Y:-27.36, Z:-13.39 [[ 9.02082204e-01 4.26383510e-01 6.66693321e-02 1.26518494e+02] [-4.25368482e-01 9.04540719e-01 -2.94574511e-02 -2.73645434e+01] [-7.28652970e-02 -1.78599023e-03 9.97340192e-01 -1.33865412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.957719421 meters 0.0571582518631311 Centerline is valid? [True, True] Translation: X:126.55, Y:-27.37, Z:-13.39 [[ 9.00097461e-01 4.30390739e-01 6.77375241e-02 1.26548981e+02] [-4.29354497e-01 9.02640127e-01 -2.99251914e-02 -2.73745420e+01] [-7.40221326e-02 -2.14782181e-03 9.97254286e-01 -1.33892364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.987719421 meters 0.059955420760768666 Centerline is valid? [True, True] Translation: X:126.58, Y:-27.38, Z:-13.39 [[ 8.96790139e-01 4.37071742e-01 6.88167081e-02 1.26579261e+02] [-4.36019318e-01 8.99422556e-01 -3.04338618e-02 -2.73812090e+01] [-7.51970805e-02 -2.71262701e-03 9.97165002e-01 -1.33913224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.017719421 meters 0.06184022636200237 Centerline is valid? [True, True] Translation: X:126.61, Y:-27.39, Z:-13.40 [[ 8.94214281e-01 4.42405072e-01 6.82537306e-02 1.26609104e+02] [-4.41384882e-01 8.96809877e-01 -3.01898911e-02 -2.73888966e+01] [-7.45667807e-02 -3.12993312e-03 9.97211110e-01 -1.33952741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04771942099998 meters 0.06206131315405712 Centerline is valid? [True, True] Translation: X:126.64, Y:-27.40, Z:-13.40 [[ 8.92751369e-01 4.45209731e-01 6.91613233e-02 1.26638508e+02] [-4.44171003e-01 8.95419812e-01 -3.05856351e-02 -2.74006923e+01] [-7.55454414e-02 -3.41408668e-03 9.97136515e-01 -1.33962748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07771942099998 meters 0.06390485537312991 Centerline is valid? [True, True] Translation: X:126.67, Y:-27.41, Z:-13.40 [[ 8.90124907e-01 4.50029962e-01 7.17682606e-02 1.26667087e+02] [-4.48924612e-01 8.93004759e-01 -3.17677879e-02 -2.74096855e+01] [-7.83858547e-02 -3.94123932e-03 9.96915305e-01 -1.33967897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10771942099998 meters 0.0653635466748059 Centerline is valid? [True, True] Translation: X:126.70, Y:-27.42, Z:-13.40 [[ 8.89120720e-01 4.52054809e-01 7.14898272e-02 1.26696249e+02] [-4.50963930e-01 8.91980755e-01 -3.16522759e-02 -2.74211144e+01] [-7.80761136e-02 -4.09663914e-03 9.96938984e-01 -1.34000802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13771942099999 meters 0.0660028776882435 Centerline is valid? [True, True] Translation: X:126.73, Y:-27.44, Z:-13.40 [[ 8.88358123e-01 4.53562442e-01 7.14209746e-02 1.26725298e+02] [-4.52477574e-01 8.91214537e-01 -3.16337596e-02 -2.74351247e+01] [-7.79992961e-02 -4.21428203e-03 9.96944507e-01 -1.34034345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.167719421 meters 0.0654361499474703 Centerline is valid? [True, True] Translation: X:126.75, Y:-27.45, Z:-13.41 [[ 8.87448596e-01 4.55502034e-01 7.03767484e-02 1.26751580e+02] [-4.54454185e-01 8.90224292e-01 -3.11785808e-02 -2.74527601e+01] [-7.68529980e-02 -4.31362008e-03 9.97033103e-01 -1.34070125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.197719421 meters 0.06395376212364111 Centerline is valid? [True, True] Translation: X:126.78, Y:-27.47, Z:-13.41 [[ 8.86992557e-01 4.56434479e-01 7.00840204e-02 1.26778369e+02] [-4.55398517e-01 8.89746249e-01 -3.10451767e-02 -2.74708116e+01] [-7.65270833e-02 -4.37931824e-03 9.97057886e-01 -1.34084320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.227719421 meters 0.06631031296022356 Centerline is valid? [True, True] Translation: X:126.81, Y:-27.48, Z:-13.41 [[ 8.86389922e-01 4.57675924e-01 6.96107363e-02 1.26805881e+02] [-4.56655367e-01 8.89108058e-01 -3.08664517e-02 -2.74832665e+01] [-7.60182984e-02 -4.42840456e-03 9.97096589e-01 -1.34140392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.257719421 meters 0.06507117540339369 Centerline is valid? [True, True] Translation: X:126.83, Y:-27.51, Z:-13.42 [[ 8.86561361e-01 4.57480335e-01 6.87073282e-02 1.26831439e+02] [-4.56485923e-01 8.89209056e-01 -3.04607408e-02 -2.75054560e+01] [-7.50303683e-02 -4.35861228e-03 9.97171724e-01 -1.34181486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.287719421 meters 0.06648647897751331 Centerline is valid? [True, True] Translation: X:126.86, Y:-27.52, Z:-13.42 [[ 8.86956975e-01 4.56790971e-01 6.81860121e-02 1.26859096e+02] [-4.55807473e-01 8.89563944e-01 -3.02578306e-02 -2.75192778e+01] [-7.44773218e-02 -4.24229994e-03 9.97213684e-01 -1.34238176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.317719421 meters 0.06440065125106197 Centerline is valid? [True, True] Translation: X:126.88, Y:-27.54, Z:-13.43 [[ 8.87714553e-01 4.55486502e-01 6.70441572e-02 1.26884468e+02] [-4.54530540e-01 8.90233497e-01 -2.97709234e-02 -2.75403861e+01] [-7.32452083e-02 -4.04553505e-03 9.97305757e-01 -1.34262939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.347719421 meters 0.06239102435364655 Centerline is valid? [True, True] Translation: X:126.91, Y:-27.56, Z:-13.43 [[ 8.89928159e-01 4.51190235e-01 6.67476073e-02 1.26907316e+02] [-4.50228445e-01 8.92420341e-01 -2.96695496e-02 -2.75647290e+01] [-7.29535335e-02 -3.64790381e-03 9.97328669e-01 -1.34298346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.377719421 meters 0.06075964931298418 Centerline is valid? [True, True] Translation: X:126.93, Y:-27.59, Z:-13.43 [[ 8.92885789e-01 4.45113573e-01 6.80358326e-02 1.26930166e+02] [-4.44096308e-01 8.95468379e-01 -3.02465164e-02 -2.75877504e+01] [-7.43870717e-02 -3.20777742e-03 9.97224285e-01 -1.34319825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.407719421 meters 0.05919493110831347 Centerline is valid? [True, True] Translation: X:126.96, Y:-27.61, Z:-13.43 [[ 8.94590629e-01 4.41501667e-01 6.91656290e-02 1.26955738e+02] [-4.40439548e-01 8.97255560e-01 -3.07484102e-02 -2.76081850e+01] [-7.56347196e-02 -2.95603874e-03 9.97131211e-01 -1.34338877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.437719421 meters 0.057218236693867004 Centerline is valid? [True, True] Translation: X:126.98, Y:-27.63, Z:-13.43 [[ 8.97297581e-01 4.35505806e-01 7.20537577e-02 1.26978991e+02] [-4.34333348e-01 9.00182312e-01 -3.20366499e-02 -2.76321757e+01] [-7.88136652e-02 -2.54894141e-03 9.96886106e-01 -1.34348181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.467719421 meters 0.05635826027535814 Centerline is valid? [True, True] Translation: X:127.00, Y:-27.65, Z:-13.44 [[ 8.98880140e-01 4.32070097e-01 7.30063358e-02 1.27004641e+02] [-4.30854812e-01 9.01837157e-01 -3.24634066e-02 -2.76487811e+01] [-7.98662936e-02 -2.27441962e-03 9.96802991e-01 -1.34380198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.497719421 meters 0.055380809745594714 Centerline is valid? [True, True] Translation: X:127.03, Y:-27.67, Z:-13.44 [[ 9.01295456e-01 4.26922052e-01 7.35123341e-02 1.27029292e+02] [-4.25672565e-01 9.04286579e-01 -3.26902122e-02 -2.76673547e+01] [-8.04323896e-02 -1.82864406e-03 9.96758389e-01 -1.34423071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.527719421 meters 0.05496551371047109 Centerline is valid? [True, True] Translation: X:127.06, Y:-27.68, Z:-13.45 [[ 9.02095557e-01 4.25314689e-01 7.30138477e-02 1.27056839e+02] [-4.24077227e-01 9.05043977e-01 -3.24639077e-02 -2.76829579e+01] [-7.98881199e-02 -1.67796315e-03 9.96802424e-01 -1.34455878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.557719421 meters 0.05433732533163212 Centerline is valid? [True, True] Translation: X:127.08, Y:-27.70, Z:-13.45 [[ 9.03728737e-01 4.21840111e-01 7.29745860e-02 1.27083503e+02] [-4.20590715e-01 9.06669237e-01 -3.24706986e-02 -2.77010637e+01] [-7.98612553e-02 -1.34772981e-03 9.96805078e-01 -1.34471666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.587719421 meters 0.054274968475909624 Centerline is valid? [True, True] Translation: X:127.11, Y:-27.72, Z:-13.45 [[ 9.04221187e-01 4.20833611e-01 7.26850523e-02 1.27111632e+02] [-4.19588918e-01 9.07137010e-01 -3.23664096e-02 -2.77161930e+01] [-7.95561740e-02 -1.23144915e-03 9.96829624e-01 -1.34501511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.617719421 meters 0.05395988514605041 Centerline is valid? [True, True] Translation: X:127.14, Y:-27.73, Z:-13.45 [[ 9.05151827e-01 4.18900484e-01 7.22672403e-02 1.27140089e+02] [-4.17662011e-01 9.08031561e-01 -3.22044737e-02 -2.77311458e+01] [-7.91114047e-02 -1.03334270e-03 9.96865246e-01 -1.34524581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.647719421 meters 0.05384927085411445 Centerline is valid? [True, True] Translation: X:127.17, Y:-27.74, Z:-13.46 [[ 9.05017175e-01 4.19100687e-01 7.27909774e-02 1.27170040e+02] [-4.17842847e-01 9.07939172e-01 -3.24625155e-02 -2.77425197e+01] [-7.96948423e-02 -1.03605512e-03 9.96818769e-01 -1.34562538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.677719421 meters 0.05391203810554135 Centerline is valid? [True, True] Translation: X:127.20, Y:-27.75, Z:-13.46 [[ 9.05253820e-01 4.18594296e-01 7.27621921e-02 1.27198960e+02] [-4.17333820e-01 9.08172824e-01 -3.24746790e-02 -2.77535048e+01] [-7.96743609e-02 -9.68296303e-04 9.96820475e-01 -1.34608488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.707719421 meters 0.05391203810554135 Centerline is valid? [True, True] Translation: X:127.23, Y:-27.77, Z:-13.46 [[ 9.05122038e-01 4.18880530e-01 7.27543634e-02 1.27228327e+02] [-4.17619569e-01 9.08040832e-01 -3.24922072e-02 -2.77668140e+01] [-7.96742856e-02 -9.74233010e-04 9.96820475e-01 -1.34641774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.737719421 meters 0.05399030718351545 Centerline is valid? [True, True] Translation: X:127.26, Y:-27.78, Z:-13.47 [[ 9.05357378e-01 4.18579153e-01 7.15507534e-02 1.27255808e+02] [-4.17356476e-01 9.08179867e-01 -3.19828247e-02 -2.77801974e+01] [-7.83682974e-02 -9.06283927e-04 9.96924064e-01 -1.34679870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.767719421 meters 0.05400595220646048 Centerline is valid? [True, True] Translation: X:127.28, Y:-27.79, Z:-13.47 [[ 9.05384684e-01 4.18711527e-01 7.04218072e-02 1.27283500e+02] [-4.17525951e-01 9.08118866e-01 -3.14992851e-02 -2.77927350e+01] [-7.71404855e-02 -8.83961722e-04 9.97019841e-01 -1.34734069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79771942099998 meters 0.05380376324110119 Centerline is valid? [True, True] Translation: X:127.31, Y:-27.80, Z:-13.48 [[ 9.06710704e-01 4.15887425e-01 7.00952831e-02 1.27311569e+02] [-4.14702770e-01 9.09415891e-01 -3.13743346e-02 -2.78049567e+01] [-7.67939556e-02 -6.21263077e-04 9.97046790e-01 -1.34788280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82771942099998 meters 0.05329519738512474 Centerline is valid? [True, True] Translation: X:127.34, Y:-27.82, Z:-13.48 [[ 9.08837795e-01 4.10744216e-01 7.28220585e-02 1.27339024e+02] [-4.09446688e-01 9.11750602e-01 -3.26228301e-02 -2.78213656e+01] [-7.97951945e-02 -1.67889730e-04 9.96811265e-01 -1.34776939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85771942099998 meters 0.05297079642371748 Centerline is valid? [True, True] Translation: X:127.37, Y:-27.84, Z:-13.48 [[ 9.09632964e-01 4.08812957e-01 7.37552442e-02 1.27368096e+02] [-4.07475746e-01 9.12618193e-01 -3.30386154e-02 -2.78364336e+01] [-8.08169917e-02 -4.59443572e-07 9.96728957e-01 -1.34761679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88771942099999 meters 0.05306982801676838 Centerline is valid? [True, True] Translation: X:127.40, Y:-27.85, Z:-13.48 [[ 9.10620536e-01 4.06631093e-01 7.36301089e-02 1.27396715e+02] [-4.05289342e-01 9.13592419e-01 -3.30066954e-02 -2.78500743e+01] [-8.06894579e-02 2.15076311e-04 9.96739266e-01 -1.34801490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.917719421 meters 0.053779411090408624 Centerline is valid? [True, True] Translation: X:127.43, Y:-27.86, Z:-13.49 [[ 9.12503544e-01 4.02557109e-01 7.26983910e-02 1.27425721e+02] [-4.01233791e-01 9.15394679e-01 -3.26194103e-02 -2.78623882e+01] [-7.96788958e-02 5.96276459e-04 9.96820404e-01 -1.34873594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.947719421 meters 0.05387336040517364 Centerline is valid? [True, True] Translation: X:127.46, Y:-27.87, Z:-13.49 [[ 9.13696389e-01 3.99957709e-01 7.20606694e-02 1.27455466e+02] [-3.98649153e-01 9.16533229e-01 -3.23371810e-02 -2.78733148e+01] [-7.89795028e-02 8.19440664e-04 9.96875903e-01 -1.34889692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.977719421 meters 0.05449164463580235 Centerline is valid? [True, True] Translation: X:127.49, Y:-27.88, Z:-13.49 [[ 9.15544983e-01 3.95387796e-01 7.37961635e-02 1.27485923e+02] [-3.93998400e-01 9.18513410e-01 -3.31417581e-02 -2.78820598e+01] [-8.08866125e-02 1.26720002e-03 9.96722504e-01 -1.34927194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.007719421 meters 0.05537529747644804 Centerline is valid? [True, True] Translation: X:127.51, Y:-27.89, Z:-13.49 [[ 9.17219112e-01 3.91492506e-01 7.37747799e-02 1.27514659e+02] [-3.90089291e-01 9.20179846e-01 -3.31571364e-02 -2.78937216e+01] [-8.08668361e-02 1.63360763e-03 9.96723576e-01 -1.34936953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.037719421 meters 0.056119087145553505 Centerline is valid? [True, True] Translation: X:127.54, Y:-27.91, Z:-13.50 [[ 9.18161332e-01 3.89296103e-01 7.36770793e-02 1.27543357e+02] [-3.87887534e-01 9.21110813e-01 -3.31380633e-02 -2.79064485e+01] [-8.07652733e-02 1.84766778e-03 9.96731437e-01 -1.34970048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.067719421 meters 0.05672101829974666 Centerline is valid? [True, True] Translation: X:127.57, Y:-27.92, Z:-13.50 [[ 9.18879950e-01 3.87639651e-01 7.34515985e-02 1.27572733e+02] [-3.86232492e-01 9.21808800e-01 -3.30605307e-02 -2.79184333e+01] [-8.05239024e-02 2.00926486e-03 9.96750653e-01 -1.34994981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.097719421 meters 0.05829646148418667 Centerline is valid? [True, True] Translation: X:127.60, Y:-27.93, Z:-13.51 [[ 9.20776082e-01 3.83419962e-01 7.18368936e-02 1.27602727e+02] [-3.82058772e-01 9.23571105e-01 -3.23652448e-02 -2.79273288e+01] [-7.87559602e-02 2.35522793e-03 9.96891143e-01 -1.35053893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.127719421 meters 0.05869670779960745 Centerline is valid? [True, True] Translation: X:127.63, Y:-27.94, Z:-13.51 [[ 9.21368220e-01 3.82210565e-01 7.06801815e-02 1.27632918e+02] [-3.80889473e-01 9.24072096e-01 -3.18429069e-02 -2.79372029e+01] [-7.74842789e-02 2.41770539e-03 9.96990643e-01 -1.35110098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.157719421 meters 0.06034346234793646 Centerline is valid? [True, True] Translation: X:127.66, Y:-27.94, Z:-13.52 [[ 9.21915375e-01 3.81101908e-01 6.95224955e-02 1.27662715e+02] [-3.79818173e-01 9.24529657e-01 -3.13539265e-02 -2.79442643e+01] [-7.62246501e-02 2.49975971e-03 9.97087536e-01 -1.35179875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.187719421 meters 0.05893294773028082 Centerline is valid? [True, True] Translation: X:127.69, Y:-27.95, Z:-13.52 [[ 9.21322894e-01 3.82618452e-01 6.90452428e-02 1.27694428e+02] [-3.81356863e-01 9.23903446e-01 -3.11346337e-02 -2.79510893e+01] [-7.57038231e-02 2.35417366e-03 9.97127569e-01 -1.35189090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.217719421 meters 0.0571029832511074 Centerline is valid? [True, True] Translation: X:127.73, Y:-27.95, Z:-13.52 [[ 9.19059680e-01 3.87856734e-01 6.99746933e-02 1.27728439e+02] [-3.86573468e-01 9.21717546e-01 -3.15866939e-02 -2.79530747e+01] [-7.67480145e-02 1.97969694e-03 9.97048556e-01 -1.35201119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.247719421 meters 0.05600793125448864 Centerline is valid? [True, True] Translation: X:127.76, Y:-27.96, Z:-13.52 [[ 9.17270163e-01 3.92049078e-01 7.00925694e-02 1.27760030e+02] [-3.90773701e-01 9.19942856e-01 -3.16394751e-02 -2.79574226e+01] [-7.68853855e-02 1.63161374e-03 9.97038603e-01 -1.35244792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.277719421 meters 0.05404901104194913 Centerline is valid? [True, True] Translation: X:127.80, Y:-27.95, Z:-13.53 [[ 9.13437102e-01 4.01010606e-01 6.94489313e-02 1.27797227e+02] [-3.99782057e-01 9.16072970e-01 -3.13786472e-02 -2.79496557e+01] [-7.62034591e-02 8.97983957e-04 9.97091885e-01 -1.35310008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.307719421 meters 0.05346207341381435 Centerline is valid? [True, True] Translation: X:127.83, Y:-27.95, Z:-13.54 [[ 9.11176395e-01 4.06033787e-01 6.99581338e-02 1.27829236e+02] [-4.04802093e-01 9.13857940e-01 -3.16058764e-02 -2.79527029e+01] [-7.67648497e-02 4.79329522e-04 9.97049110e-01 -1.35352496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.337719421 meters 0.053239186322606526 Centerline is valid? [True, True] Translation: X:127.87, Y:-27.95, Z:-13.54 [[ 9.07909558e-01 4.13323858e-01 6.97396764e-02 1.27865502e+02] [-4.12119516e-01 9.10584085e-01 -3.15298138e-02 -2.79511117e+01] [-7.65358636e-02 -1.14862359e-04 9.97066822e-01 -1.35381774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.367719421 meters 0.053007263620234425 Centerline is valid? [True, True] Translation: X:127.90, Y:-27.96, Z:-13.54 [[ 9.06231857e-01 4.16903467e-01 7.02518348e-02 1.27897871e+02] [-4.15690276e-01 9.08950681e-01 -3.17845065e-02 -2.79593843e+01] [-7.71065240e-02 -3.98872212e-04 9.97022781e-01 -1.35382149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.397719421 meters 0.05305983500396369 Centerline is valid? [True, True] Translation: X:127.93, Y:-27.96, Z:-13.54 [[ 9.04792224e-01 4.19904017e-01 7.09341126e-02 1.27931798e+02] [-4.18673964e-01 9.07568298e-01 -3.21231445e-02 -2.79643236e+01] [-7.78661892e-02 -6.33494768e-04 9.96963618e-01 -1.35404489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.427719421 meters 0.05306824206123957 Centerline is valid? [True, True] Translation: X:127.96, Y:-27.97, Z:-13.54 [[ 9.04241050e-01 4.21066488e-01 7.10713508e-02 1.27963297e+02] [-4.19832907e-01 9.07029499e-01 -3.22151882e-02 -2.79735276e+01] [-7.80285478e-02 -7.07796169e-04 9.96950874e-01 -1.35440684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.457719421 meters 0.054069084985844215 Centerline is valid? [True, True] Translation: X:127.99, Y:-27.98, Z:-13.55 [[ 9.03261326e-01 4.23531909e-01 6.88454717e-02 1.27994875e+02] [-4.22379323e-01 9.05880773e-01 -3.12367115e-02 -2.79763537e+01] [-7.55955332e-02 -8.63990329e-04 9.97138189e-01 -1.35545264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.487719421 meters 0.05397476014415873 Centerline is valid? [True, True] Translation: X:128.03, Y:-27.99, Z:-13.56 [[ 9.02530709e-01 4.25229485e-01 6.79573692e-02 1.28025142e+02] [-4.24109595e-01 9.05085045e-01 -3.08563189e-02 -2.79868753e+01] [-7.46282151e-02 -9.72596904e-04 9.97210952e-01 -1.35565359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.517719421 meters 0.05471069895667549 Centerline is valid? [True, True] Translation: X:128.06, Y:-27.99, Z:-13.56 [[ 9.00472326e-01 4.29676151e-01 6.72903818e-02 1.28057607e+02] [-4.28588410e-01 9.02982121e-01 -3.05820897e-02 -2.79915399e+01] [-7.39024062e-02 -1.30155227e-03 9.97264629e-01 -1.35597584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54771942099998 meters 0.05558394915620632 Centerline is valid? [True, True] Translation: X:128.09, Y:-28.00, Z:-13.56 [[ 8.99025638e-01 4.32793433e-01 6.66539310e-02 1.28087391e+02] [-4.31733819e-01 9.01491819e-01 -3.03052845e-02 -2.80000523e+01] [-7.32039016e-02 -1.53152842e-03 9.97315819e-01 -1.35634062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57771942099998 meters 0.05723251261053186 Centerline is valid? [True, True] Translation: X:128.12, Y:-28.01, Z:-13.57 [[ 8.96241866e-01 4.38701315e-01 6.55108711e-02 1.28118114e+02] [-4.37692290e-01 8.98630791e-01 -2.98020187e-02 -2.80058457e+01] [-7.19442708e-02 -1.96378635e-03 9.97406720e-01 -1.35691027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60771942099998 meters 0.057986971261061275 Centerline is valid? [True, True] Translation: X:128.15, Y:-28.02, Z:-13.57 [[ 8.94904035e-01 4.41460719e-01 6.52625579e-02 1.28148899e+02] [-4.40467198e-01 8.97277919e-01 -2.96813730e-02 -2.80151238e+01] [-7.16618124e-02 -2.18403556e-03 9.97426596e-01 -1.35736335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63771942099999 meters 0.06132758664193633 Centerline is valid? [True, True] Translation: X:128.18, Y:-28.02, Z:-13.58 [[ 8.92678334e-01 4.46071851e-01 6.43839769e-02 1.28180682e+02] [-4.45114555e-01 8.94993689e-01 -2.93143113e-02 -2.80172726e+01] [-7.06995422e-02 -2.48999469e-03 9.97494549e-01 -1.35812834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.667719421 meters 0.0607520385632895 Centerline is valid? [True, True] Translation: X:128.21, Y:-28.03, Z:-13.58 [[ 8.91736837e-01 4.48087384e-01 6.34279837e-02 1.28208677e+02] [-4.47163936e-01 8.93985933e-01 -2.88715494e-02 -2.80321778e+01] [-6.96407022e-02 -2.61688271e-03 9.97568707e-01 -1.35823817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.697719421 meters 0.060845935922346925 Centerline is valid? [True, True] Translation: X:128.24, Y:-28.05, Z:-13.59 [[ 8.91543298e-01 4.48379457e-01 6.40812823e-02 1.28237531e+02] [-4.47436148e-01 8.93839387e-01 -2.91898031e-02 -2.80461861e+01] [-7.03664822e-02 -2.64830873e-03 9.97517691e-01 -1.35854132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.727719421 meters 0.05942517420855607 Centerline is valid? [True, True] Translation: X:128.26, Y:-28.06, Z:-13.59 [[ 8.92710093e-01 4.45848832e-01 6.54790683e-02 1.28263610e+02] [-4.44854743e-01 8.95104855e-01 -2.98589355e-02 -2.80647005e+01] [-7.19232034e-02 -2.47330097e-03 9.97407106e-01 -1.35861250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.757719421 meters 0.05720510806157342 Centerline is valid? [True, True] Translation: X:128.29, Y:-28.09, Z:-13.59 [[ 8.96284622e-01 4.38334126e-01 6.73577751e-02 1.28286253e+02] [-4.37260459e-01 8.98810055e-01 -3.07209504e-02 -2.80862388e+01] [-7.40078865e-02 -1.91817625e-03 9.97255811e-01 -1.35877258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.787719421 meters 0.05532321577101591 Centerline is valid? [True, True] Translation: X:128.31, Y:-28.11, Z:-13.59 [[ 8.98563407e-01 4.33478246e-01 6.84135545e-02 1.28311865e+02] [-4.32356786e-01 9.01162707e-01 -3.11991283e-02 -2.81069359e+01] [-7.51758874e-02 -1.54466952e-03 9.97169093e-01 -1.35885113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.817719421 meters 0.053167782809934644 Centerline is valid? [True, True] Translation: X:128.34, Y:-28.13, Z:-13.59 [[ 9.02746290e-01 4.24085418e-01 7.21158365e-02 1.28335968e+02] [-4.22808496e-01 9.05621844e-01 -3.28945393e-02 -2.81286660e+01] [-7.92597713e-02 -7.95765078e-04 9.96853678e-01 -1.35883284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.847719421 meters 0.0526199609587343 Centerline is valid? [True, True] Translation: X:128.36, Y:-28.15, Z:-13.59 [[ 9.04731123e-01 4.19553108e-01 7.37345599e-02 1.28363096e+02] [-4.18203440e-01 9.07730698e-01 -3.36282993e-02 -2.81456021e+01] [-8.10399810e-02 -4.11477566e-04 9.96710767e-01 -1.35902419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.877719421 meters 0.053039373919714576 Centerline is valid? [True, True] Translation: X:128.39, Y:-28.17, Z:-13.59 [[ 9.08442030e-01 4.11733313e-01 7.21717227e-02 1.28388571e+02] [-4.10413577e-01 9.11304333e-01 -3.29409989e-02 -2.81670338e+01] [-7.93333102e-02 3.04732986e-04 9.96848099e-01 -1.35935405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.907719421 meters 0.053673080179034195 Centerline is valid? [True, True] Translation: X:128.41, Y:-28.18, Z:-13.60 [[ 9.10019381e-01 4.08424886e-01 7.10903644e-02 1.28414925e+02] [-4.07132324e-01 9.12791730e-01 -3.24735031e-02 -2.81843559e+01] [-7.81536835e-02 6.08331931e-04 9.96941138e-01 -1.35985706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.937719421 meters 0.05470563862131647 Centerline is valid? [True, True] Translation: X:128.44, Y:-28.20, Z:-13.60 [[ 9.13207392e-01 4.01629383e-01 6.88919376e-02 1.28442566e+02] [-4.00394063e-01 9.15801532e-01 -3.14984017e-02 -2.81985460e+01] [-7.57420256e-02 1.18065044e-03 9.97126748e-01 -1.36025284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.967719421 meters 0.055061889894839525 Centerline is valid? [True, True] Translation: X:128.47, Y:-28.21, Z:-13.61 [[ 9.14356283e-01 3.99081156e-01 6.84603455e-02 1.28472221e+02] [-3.97854492e-01 9.16914570e-01 -3.12965527e-02 -2.82105624e+01] [-7.52621527e-02 1.37894367e-03 9.97162829e-01 -1.36057239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.997719421 meters 0.056392760848649845 Centerline is valid? [True, True] Translation: X:128.50, Y:-28.22, Z:-13.61 [[ 9.16346703e-01 3.94451970e-01 6.86757766e-02 1.28500893e+02] [-3.93202506e-01 9.18914816e-01 -3.14221349e-02 -2.82227124e+01] [-7.55017116e-02 1.79008227e-03 9.97144065e-01 -1.36104224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.027719421 meters 0.05759398243625673 Centerline is valid? [True, True] Translation: X:128.53, Y:-28.24, Z:-13.61 [[ 9.17449277e-01 3.91682980e-01 6.97944560e-02 1.28528488e+02] [-3.90382462e-01 9.20097897e-01 -3.19592593e-02 -2.82377550e+01] [-7.67356301e-02 2.07446781e-03 9.97049317e-01 -1.36134415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.057719421 meters 0.06016805449144384 Centerline is valid? [True, True] Translation: X:128.55, Y:-28.25, Z:-13.62 [[ 9.20227425e-01 3.85085317e-01 6.99341397e-02 1.28553570e+02] [-3.83758031e-01 9.22877142e-01 -3.20554734e-02 -2.82539660e+01] [-7.68847111e-02 2.66053796e-03 9.97036440e-01 -1.36151475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.087719421 meters 0.06094421543045674 Centerline is valid? [True, True] Translation: X:128.58, Y:-28.27, Z:-13.62 [[ 9.21042151e-01 3.83112481e-01 7.00441490e-02 1.28582623e+02] [-3.81775970e-01 9.23697387e-01 -3.20974328e-02 -2.82672750e+01] [-7.69965245e-02 2.82191566e-03 9.97027368e-01 -1.36175261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.117719421 meters 0.06068993459496654 Centerline is valid? [True, True] Translation: X:128.62, Y:-28.27, Z:-13.62 [[ 9.20832691e-01 3.83730767e-01 6.94107646e-02 1.28615626e+02] [-3.82418278e-01 9.23440871e-01 -3.18311060e-02 -2.82732216e+01] [-7.63113116e-02 2.76717795e-03 9.97080201e-01 -1.36214917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.147719421 meters 0.06021010146469514 Centerline is valid? [True, True] Translation: X:128.65, Y:-28.28, Z:-13.63 [[ 9.20286393e-01 3.85063127e-01 6.92772891e-02 1.28647084e+02] [-3.83757117e-01 9.22886345e-01 -3.18004461e-02 -2.82807469e+01] [-7.61802434e-02 2.67986502e-03 9.97090462e-01 -1.36259373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.177719421 meters 0.05821564850070431 Centerline is valid? [True, True] Translation: X:128.68, Y:-28.28, Z:-13.63 [[ 9.17994040e-01 3.90651303e-01 6.83995687e-02 1.28681108e+02] [-3.89391247e-01 9.20536061e-01 -3.14295494e-02 -2.82815316e+01] [-7.52422640e-02 2.21794567e-03 9.97162816e-01 -1.36311798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.207719421 meters 0.057169010526498656 Centerline is valid? [True, True] Translation: X:128.71, Y:-28.29, Z:-13.63 [[ 9.16362664e-01 3.94370665e-01 6.89292946e-02 1.28711158e+02] [-3.93100937e-01 9.18949421e-01 -3.16798846e-02 -2.82875363e+01] [-7.58361525e-02 1.93409312e-03 9.97118417e-01 -1.36345694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.237719421 meters 0.05405629395268573 Centerline is valid? [True, True] Translation: X:128.75, Y:-28.28, Z:-13.63 [[ 9.12697044e-01 4.02526019e-01 7.04053247e-02 1.28747659e+02] [-4.01225219e-01 9.15407641e-01 -3.23600881e-02 -2.82831817e+01] [-7.74753497e-02 1.28656497e-03 9.96993438e-01 -1.36345745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.267719421 meters 0.053445157780763926 Centerline is valid? [True, True] Translation: X:128.78, Y:-28.29, Z:-13.64 [[ 9.10731054e-01 4.06688097e-01 7.19287132e-02 1.28779164e+02] [-4.05343578e-01 9.13566577e-01 -3.30559040e-02 -2.82888065e+01] [-7.91551110e-02 9.49196295e-04 9.96861860e-01 -1.36390353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29771942099998 meters 0.05210171770552897 Centerline is valid? [True, True] Translation: X:128.82, Y:-28.28, Z:-13.64 [[ 9.06626810e-01 4.15690483e-01 7.23135582e-02 1.28817151e+02] [-4.14357987e-01 9.09506123e-01 -3.32576568e-02 -2.82835910e+01] [-7.95945153e-02 1.88582838e-04 9.96827306e-01 -1.36416109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32771942099998 meters 0.052288789304130695 Centerline is valid? [True, True] Translation: X:128.85, Y:-28.29, Z:-13.65 [[ 9.05072649e-01 4.19364731e-01 7.05458948e-02 1.28848028e+02] [-4.18105827e-01 9.07817829e-01 -3.24700879e-02 -2.82893944e+01] [-7.76596308e-02 -1.07861236e-04 9.96979925e-01 -1.36474281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35771942099998 meters 0.0531540039492687 Centerline is valid? [True, True] Translation: X:128.88, Y:-28.29, Z:-13.66 [[ 9.02443850e-01 4.25608209e-01 6.67289257e-02 1.28879362e+02] [-4.24496668e-01 9.04907352e-01 -3.07451391e-02 -2.82874598e+01] [-7.34688790e-02 -5.80444899e-04 9.97297341e-01 -1.36564064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38771942099999 meters 0.05337379528501145 Centerline is valid? [True, True] Translation: X:128.91, Y:-28.29, Z:-13.66 [[ 9.01217379e-01 4.28224201e-01 6.65677820e-02 1.28908342e+02] [-4.27125633e-01 9.03672174e-01 -3.06642505e-02 -2.82938427e+01] [-7.32866264e-02 -7.97650584e-04 9.97310601e-01 -1.36587572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.417719421 meters 0.05387493777034336 Centerline is valid? [True, True] Translation: X:128.94, Y:-28.30, Z:-13.66 [[ 9.00207945e-01 4.30465649e-01 6.57645805e-02 1.28936894e+02] [-4.29399914e-01 9.02606435e-01 -3.02875843e-02 -2.83009459e+01] [-7.23972981e-02 -9.74181246e-04 9.97375397e-01 -1.36622892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.447719421 meters 0.05476290867910114 Centerline is valid? [True, True] Translation: X:128.96, Y:-28.31, Z:-13.67 [[ 8.98729359e-01 4.33532404e-01 6.58421905e-02 1.28964158e+02] [-4.32472793e-01 9.01137141e-01 -3.03172693e-02 -2.83072481e+01] [-7.24763619e-02 -1.22793599e-03 9.97369374e-01 -1.36667098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.477719421 meters 0.054864428536121154 Centerline is valid? [True, True] Translation: X:128.99, Y:-28.32, Z:-13.67 [[ 8.97260830e-01 4.36433678e-01 6.66981819e-02 1.28990704e+02] [-4.35354966e-01 8.99735198e-01 -3.07022424e-02 -2.83186380e+01] [-7.34101945e-02 -1.48946520e-03 9.97300719e-01 -1.36665290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.507719421 meters 0.05485672800891528 Centerline is valid? [True, True] Translation: X:129.02, Y:-28.33, Z:-13.67 [[ 8.96738988e-01 4.37388678e-01 6.74561468e-02 1.29016160e+02] [-4.36288395e-01 8.99271157e-01 -3.10454959e-02 -2.83298454e+01] [-7.42403156e-02 -1.59062746e-03 9.97239111e-01 -1.36679652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.537719421 meters 0.05583940275469583 Centerline is valid? [True, True] Translation: X:129.04, Y:-28.34, Z:-13.67 [[ 8.95561794e-01 4.39746660e-01 6.77639117e-02 1.29042571e+02] [-4.38643883e-01 8.98120047e-01 -3.11757133e-02 -2.83383898e+01] [-7.45695434e-02 -1.80444762e-03 9.97214183e-01 -1.36731774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.567719421 meters 0.05605795569772789 Centerline is valid? [True, True] Translation: X:129.07, Y:-28.35, Z:-13.68 [[ 8.94862308e-01 4.41291037e-01 6.69602141e-02 1.29068456e+02] [-4.40219288e-01 8.97361990e-01 -3.07967083e-02 -2.83504234e+01] [-7.36778623e-02 -1.91836437e-03 9.97280248e-01 -1.36760996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.597719421 meters 0.05605795569772789 Centerline is valid? [True, True] Translation: X:129.09, Y:-28.36, Z:-13.68 [[ 8.94919680e-01 4.41174348e-01 6.69623763e-02 1.29093404e+02] [-4.40102626e-01 8.97419373e-01 -3.07920063e-02 -2.83617237e+01] [-7.36779771e-02 -1.91394519e-03 9.97280248e-01 -1.36789176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.627719421 meters 0.05698276338352884 Centerline is valid? [True, True] Translation: X:129.12, Y:-28.38, Z:-13.69 [[ 8.94797900e-01 4.41888585e-01 6.38059341e-02 1.29118030e+02] [-4.40918261e-01 8.97067950e-01 -2.93288253e-02 -2.83760255e+01] [-7.01983317e-02 -1.88983022e-03 9.97531264e-01 -1.36863925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.657719421 meters 0.057005754509124956 Centerline is valid? [True, True] Translation: X:129.14, Y:-28.39, Z:-13.69 [[ 8.95029065e-01 4.41465871e-01 6.34890292e-02 1.29142752e+02] [-4.40504300e-01 8.97276135e-01 -2.91804607e-02 -2.83900620e+01] [-6.98493683e-02 -1.84982993e-03 9.97555835e-01 -1.36888353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.687719421 meters 0.05632146222681843 Centerline is valid? [True, True] Translation: X:129.17, Y:-28.41, Z:-13.69 [[ 8.95290936e-01 4.40734434e-01 6.48636892e-02 1.29166733e+02] [-4.39729646e-01 8.97635653e-01 -2.98005655e-02 -2.84069152e+01] [-7.13580954e-02 -1.84231090e-03 9.97449060e-01 -1.36888457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.717719421 meters 0.05765800112781907 Centerline is valid? [True, True] Translation: X:129.19, Y:-28.42, Z:-13.70 [[ 8.95222557e-01 4.40783021e-01 6.54744319e-02 1.29192367e+02] [-4.39759782e-01 8.97611739e-01 -3.00749079e-02 -2.84154541e+01] [-7.20271274e-02 -1.86928599e-03 9.97400922e-01 -1.36955661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.747719421 meters 0.05670982903520934 Centerline is valid? [True, True] Translation: X:129.22, Y:-28.43, Z:-13.69 [[ 8.94322433e-01 4.42488876e-01 6.62644797e-02 1.29216963e+02] [-4.41446110e-01 8.96771674e-01 -3.04285429e-02 -2.84316717e+01] [-7.28884001e-02 -2.03926822e-03 9.97338018e-01 -1.36941581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.777719421 meters 0.057365415055620324 Centerline is valid? [True, True] Translation: X:129.24, Y:-28.44, Z:-13.70 [[ 8.93559143e-01 4.43978326e-01 6.65980741e-02 1.29242761e+02] [-4.42929666e-01 8.96034878e-01 -3.05746320e-02 -2.84437399e+01] [-7.32486711e-02 -2.17802073e-03 9.97311330e-01 -1.36966265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.807719421 meters 0.058160568007687034 Centerline is valid? [True, True] Translation: X:129.27, Y:-28.46, Z:-13.70 [[ 8.92556678e-01 4.45911388e-01 6.71238435e-02 1.29268084e+02] [-4.44852056e-01 8.95073996e-01 -3.08089383e-02 -2.84566165e+01] [-7.38188633e-02 -2.36145612e-03 9.97268870e-01 -1.36987254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.837719421 meters 0.05877143401412347 Centerline is valid? [True, True] Translation: X:129.29, Y:-28.47, Z:-13.70 [[ 8.90931423e-01 4.48919215e-01 6.86493782e-02 1.29292981e+02] [-4.47820663e-01 8.93568334e-01 -3.15005668e-02 -2.84736107e+01] [-7.54841203e-02 -2.67776529e-03 9.97143409e-01 -1.36988926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.867719421 meters 0.060234873633221386 Centerline is valid? [True, True] Translation: X:129.32, Y:-28.49, Z:-13.70 [[ 8.89359007e-01 4.52133995e-01 6.79367861e-02 1.29319400e+02] [-4.51067756e-01 8.91945239e-01 -3.11700364e-02 -2.84866536e+01] [-7.46889260e-02 -2.92274102e-03 9.97202598e-01 -1.37031814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.897719421 meters 0.061019565130407225 Centerline is valid? [True, True] Translation: X:129.35, Y:-28.50, Z:-13.71 [[ 8.88644691e-01 4.53652500e-01 6.71567007e-02 1.29346059e+02] [-4.52615159e-01 8.91173554e-01 -3.08093154e-02 -2.84980364e+01] [-7.38249986e-02 -3.01760619e-03 9.97266646e-01 -1.37073302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.927719421 meters 0.06166798483549908 Centerline is valid? [True, True] Translation: X:129.37, Y:-28.51, Z:-13.71 [[ 8.87862948e-01 4.55371767e-01 6.58478573e-02 1.29371917e+02] [-4.54379579e-01 8.90295976e-01 -3.02038595e-02 -2.85107413e+01] [-7.23780673e-02 -3.10303392e-03 9.97372441e-01 -1.37109576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.957719421 meters 0.06311789742939185 Centerline is valid? [True, True] Translation: X:129.40, Y:-28.53, Z:-13.72 [[ 8.87063252e-01 4.57193975e-01 6.39723066e-02 1.29396829e+02] [-4.56262667e-01 8.89361378e-01 -2.93379860e-02 -2.85272452e+01] [-7.03076492e-02 -3.16352592e-03 9.97520339e-01 -1.37164877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.987719421 meters 0.06425631268094027 Centerline is valid? [True, True] Translation: X:129.42, Y:-28.54, Z:-13.72 [[ 8.87135674e-01 4.57237693e-01 6.26417443e-02 1.29421848e+02] [-4.56345032e-01 8.89339116e-01 -2.87253971e-02 -2.85410652e+01] [-6.88440878e-02 -3.10292428e-03 9.97622606e-01 -1.37212087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.017719421 meters 0.06363107746433201 Centerline is valid? [True, True] Translation: X:129.44, Y:-28.56, Z:-13.72 [[ 8.87095271e-01 4.57415799e-01 6.19093503e-02 1.29444578e+02] [-4.56544716e-01 8.89247586e-01 -2.83840230e-02 -2.85626828e+01] [-6.80360409e-02 -3.08505417e-03 9.97678094e-01 -1.37226533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04771942099998 meters 0.06196075649223009 Centerline is valid? [True, True] Translation: X:129.47, Y:-28.59, Z:-13.72 [[ 8.88589099e-01 4.54448791e-01 6.23354604e-02 1.29468559e+02] [-4.53558818e-01 8.90768198e-01 -2.85729811e-02 -2.85857018e+01] [-6.85114025e-02 -2.88315824e-03 9.97646167e-01 -1.37242332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07771942099998 meters 0.06252099346403796 Centerline is valid? [True, True] Translation: X:129.49, Y:-28.60, Z:-13.73 [[ 8.89278528e-01 4.52880752e-01 6.38961913e-02 1.29494835e+02] [-4.51941277e-01 8.91566614e-01 -2.92925969e-02 -2.86000278e+01] [-7.02337642e-02 -2.82804883e-03 9.97526551e-01 -1.37291551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10771942099998 meters 0.059463342990447476 Centerline is valid? [True, True] Translation: X:129.52, Y:-28.63, Z:-13.73 [[ 8.91167837e-01 4.48741187e-01 6.67175637e-02 1.29517143e+02] [-4.47705093e-01 8.93657950e-01 -3.05878869e-02 -2.86257120e+01] [-7.33487258e-02 -2.61085202e-03 9.97302937e-01 -1.37295714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13771942099999 meters 0.05983307374314768 Centerline is valid? [True, True] Translation: X:129.54, Y:-28.64, Z:-13.73 [[ 8.92274646e-01 4.46521043e-01 6.68200067e-02 1.29543785e+02] [-4.45475764e-01 8.94769820e-01 -3.06318991e-02 -2.86411337e+01] [-7.34663129e-02 -2.43462659e-03 9.97294727e-01 -1.37347903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.167719421 meters 0.059319755039122145 Centerline is valid? [True, True] Translation: X:129.57, Y:-28.66, Z:-13.74 [[ 8.92826790e-01 4.45547686e-01 6.59361981e-02 1.29570408e+02] [-4.44526570e-01 8.95255216e-01 -3.02361889e-02 -2.86601173e+01] [-7.25013893e-02 -2.31471247e-03 9.97365625e-01 -1.37386359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.197719421 meters 0.0587612801466432 Centerline is valid? [True, True] Translation: X:129.60, Y:-28.68, Z:-13.74 [[ 8.93283391e-01 4.44794741e-01 6.48260928e-02 1.29595804e+02] [-4.43804340e-01 8.95629840e-01 -2.97472228e-02 -2.86837931e+01] [-7.12915914e-02 -2.19740135e-03 9.97453097e-01 -1.37413008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.227719421 meters 0.05870207174228919 Centerline is valid? [True, True] Translation: X:129.62, Y:-28.70, Z:-13.74 [[ 8.91759527e-01 4.47593183e-01 6.65228471e-02 1.29622143e+02] [-4.46555894e-01 8.94233914e-01 -3.05538866e-02 -2.87031293e+01] [-7.31626974e-02 -2.45944999e-03 9.97316986e-01 -1.37405160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.257719421 meters 0.059865323144761 Centerline is valid? [True, True] Translation: X:129.65, Y:-28.71, Z:-13.74 [[ 8.90548150e-01 4.49907306e-01 6.71372433e-02 1.29650383e+02] [-4.48855132e-01 8.93071333e-01 -3.08652766e-02 -2.87147724e+01] [-7.38448608e-02 -2.64788120e-03 9.97266226e-01 -1.37438605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.287719421 meters 0.061133759738703525 Centerline is valid? [True, True] Translation: X:129.68, Y:-28.73, Z:-13.75 [[ 8.87977432e-01 4.54923858e-01 6.73822275e-02 1.29678512e+02] [-4.53877192e-01 8.90525075e-01 -3.09933263e-02 -2.87291416e+01] [-7.41051668e-02 -3.06188192e-03 9.97245732e-01 -1.37452747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.317719421 meters 0.06295878173724792 Centerline is valid? [True, True] Translation: X:129.71, Y:-28.74, Z:-13.75 [[ 8.86365766e-01 4.57941389e-01 6.81572706e-02 1.29706957e+02] [-4.56879083e-01 8.88976078e-01 -3.13534031e-02 -2.87402699e+01] [-7.49482041e-02 -3.34904818e-03 9.97181804e-01 -1.37485347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.347719421 meters 0.06348050936902086 Centerline is valid? [True, True] Translation: X:129.74, Y:-28.75, Z:-13.75 [[ 8.85020230e-01 4.60471819e-01 6.85922554e-02 1.29735663e+02] [-4.59403277e-01 8.87667088e-01 -3.15558201e-02 -2.87548775e+01] [-7.54176535e-02 -3.58396771e-03 9.97145593e-01 -1.37502850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.377719421 meters 0.06592915166250328 Centerline is valid? [True, True] Translation: X:129.76, Y:-28.77, Z:-13.75 [[ 8.82514906e-01 4.65044539e-01 7.00072686e-02 1.29762021e+02] [-4.63944933e-01 8.85278030e-01 -3.22165856e-02 -2.87689452e+01] [-7.69580441e-02 -4.04790051e-03 9.97026115e-01 -1.37523404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.407719421 meters 0.07057817878629354 Centerline is valid? [True, True] Translation: X:129.79, Y:-28.78, Z:-13.76 [[ 8.81348305e-01 4.67515434e-01 6.82237788e-02 1.29788619e+02] [-4.66478552e-01 8.83975147e-01 -3.13958429e-02 -2.87803081e+01] [-7.49861660e-02 -4.15425660e-03 9.97175921e-01 -1.37610652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.437719421 meters 0.0682528444761978 Centerline is valid? [True, True] Translation: X:129.81, Y:-28.80, Z:-13.76 [[ 8.81422193e-01 4.67597847e-01 6.66871159e-02 1.29814744e+02] [-4.66608102e-01 8.83931924e-01 -3.06795131e-02 -2.88007723e+01] [-7.32925450e-02 -4.07514485e-03 9.97302159e-01 -1.37645669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.467719421 meters 0.06831300344546935 Centerline is valid? [True, True] Translation: X:129.84, Y:-28.82, Z:-13.77 [[ 8.81963712e-01 4.66944483e-01 6.40535702e-02 1.29839108e+02] [-4.66028078e-01 8.84278293e-01 -2.94911998e-02 -2.88197433e+01] [-7.04119348e-02 -3.84059418e-03 9.97510606e-01 -1.37721174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.497719421 meters 0.06829699285297683 Centerline is valid? [True, True] Translation: X:129.87, Y:-28.84, Z:-13.78 [[ 8.82244614e-01 4.66547352e-01 6.30714568e-02 1.29866330e+02] [-4.65656919e-01 8.84488323e-01 -2.90523762e-02 -2.88376488e+01] [-6.93402762e-02 -3.73835782e-03 9.97586062e-01 -1.37770888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.527719421 meters 0.06682354887183213 Centerline is valid? [True, True] Translation: X:129.89, Y:-28.86, Z:-13.78 [[ 8.84192215e-01 4.62815156e-01 6.32950176e-02 1.29888270e+02] [-4.61906305e-01 8.86448194e-01 -2.91918731e-02 -2.88614893e+01] [-6.96181953e-02 -3.42514071e-03 9.97567830e-01 -1.37800881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.557719421 meters 0.06235868340400701 Centerline is valid? [True, True] Translation: X:129.91, Y:-28.89, Z:-13.78 [[ 8.85539878e-01 4.60140659e-01 6.39507481e-02 1.29911361e+02] [-4.59206013e-01 8.87840084e-01 -2.94927666e-02 -2.88875897e+01] [-7.03488586e-02 -3.24954713e-03 9.97517157e-01 -1.37774616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.587719421 meters 0.06171408039476153 Centerline is valid? [True, True] Translation: X:129.94, Y:-28.91, Z:-13.78 [[ 8.86816251e-01 4.57375371e-01 6.60659318e-02 1.29936037e+02] [-4.56369784e-01 8.89268237e-01 -3.04733195e-02 -2.89051800e+01] [-7.26880804e-02 -3.12626007e-03 9.97349823e-01 -1.37797277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.617719421 meters 0.05939644308246859 Centerline is valid? [True, True] Translation: X:129.96, Y:-28.93, Z:-13.78 [[ 8.89044670e-01 4.52526813e-01 6.94194365e-02 1.29959037e+02] [-4.51401723e-01 8.91746180e-01 -3.20192829e-02 -2.89289526e+01] [-7.63941013e-02 -2.86948046e-03 9.97073572e-01 -1.37785347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.647719421 meters 0.0576024274311356 Centerline is valid? [True, True] Translation: X:129.98, Y:-28.95, Z:-13.78 [[ 8.90956980e-01 4.48526586e-01 7.08488650e-02 1.29983305e+02] [-4.47341803e-01 8.93765777e-01 -3.26809803e-02 -2.89515210e+01] [-7.79805794e-02 -2.57631147e-03 9.96951549e-01 -1.37792016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.677719421 meters 0.057177384516352237 Centerline is valid? [True, True] Translation: X:130.01, Y:-28.97, Z:-13.78 [[ 8.91718249e-01 4.46720520e-01 7.26590800e-02 1.30009752e+02] [-4.45468061e-01 8.94670129e-01 -3.35196447e-02 -2.89673300e+01] [-7.99798216e-02 -2.47722067e-03 9.96793405e-01 -1.37816559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.707719421 meters 0.05586592439316941 Centerline is valid? [True, True] Translation: X:130.03, Y:-28.99, Z:-13.78 [[ 8.93455698e-01 4.43098476e-01 7.34891580e-02 1.30034894e+02] [-4.41804638e-01 8.96470309e-01 -3.39064554e-02 -2.89873133e+01] [-8.09047469e-02 -2.17393510e-03 9.96719467e-01 -1.37848850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.737719421 meters 0.055721414367761256 Centerline is valid? [True, True] Translation: X:130.06, Y:-29.00, Z:-13.79 [[ 8.94015360e-01 4.41989452e-01 7.33611564e-02 1.30062059e+02] [-4.40696571e-01 8.97017855e-01 -3.38452509e-02 -2.90032138e+01] [-8.07655111e-02 -2.07183585e-03 9.96730977e-01 -1.37886024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.767719421 meters 0.05526444288776262 Centerline is valid? [True, True] Translation: X:130.09, Y:-29.02, Z:-13.79 [[ 8.94917038e-01 4.40241414e-01 7.28765569e-02 1.30087599e+02] [-4.38957747e-01 8.97877480e-01 -3.36470925e-02 -2.90239411e+01] [-8.02470629e-02 -1.87837283e-03 9.96773234e-01 -1.37909024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79771942099998 meters 0.054567078458639576 Centerline is valid? [True, True] Translation: X:130.11, Y:-29.04, Z:-13.79 [[ 8.95459675e-01 4.39202709e-01 7.24772502e-02 1.30113547e+02] [-4.37927620e-01 8.98386282e-01 -3.34886362e-02 -2.90423567e+01] [-7.98208670e-02 -1.75206642e-03 9.96807684e-01 -1.37935131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82771942099998 meters 0.0545123601322436 Centerline is valid? [True, True] Translation: X:130.14, Y:-29.06, Z:-13.80 [[ 8.95151694e-01 4.39863384e-01 7.22748137e-02 1.30141914e+02] [-4.38595675e-01 8.98062926e-01 -3.34187817e-02 -2.90555628e+01] [-7.96070291e-02 -1.78454167e-03 9.96824727e-01 -1.37980244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85771942099998 meters 0.054987798482334295 Centerline is valid? [True, True] Translation: X:130.17, Y:-29.07, Z:-13.80 [[ 8.94578450e-01 4.41299722e-01 7.05971080e-02 1.30170756e+02] [-4.40093120e-01 8.97357864e-01 -3.26635912e-02 -2.90680740e+01] [-7.77653037e-02 -1.84915668e-03 9.96969979e-01 -1.38034486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88771942099999 meters 0.05590744525820931 Centerline is valid? [True, True] Translation: X:130.20, Y:-29.08, Z:-13.81 [[ 8.93831246e-01 4.42978092e-01 6.95421715e-02 1.30198948e+02] [-4.41810150e-01 8.96530340e-01 -3.22046720e-02 -2.90794035e+01] [-7.66126309e-02 -1.93889512e-03 9.97059048e-01 -1.38092698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.917719421 meters 0.056903059507321746 Centerline is valid? [True, True] Translation: X:130.23, Y:-29.09, Z:-13.81 [[ 8.91245007e-01 4.48480414e-01 6.74363135e-02 1.30225950e+02] [-4.47397614e-01 8.93789611e-01 -3.12330947e-02 -2.90939355e+01] [-7.42813076e-02 -2.33450605e-03 9.97234595e-01 -1.38106550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.947719421 meters 0.05918114374026785 Centerline is valid? [True, True] Translation: X:130.25, Y:-29.10, Z:-13.82 [[ 8.88857516e-01 4.53494499e-01 6.53839174e-02 1.30254690e+02] [-4.52490179e-01 8.91255080e-01 -3.02823490e-02 -2.91029624e+01] [-7.20066272e-02 -2.66888699e-03 9.97400583e-01 -1.38162264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.977719421 meters 0.05919696935656931 Centerline is valid? [True, True] Translation: X:130.28, Y:-29.12, Z:-13.82 [[ 8.87683149e-01 4.55870409e-01 6.48135580e-02 1.30283839e+02] [-4.54889489e-01 8.90041657e-01 -3.00233527e-02 -2.91160486e+01] [-7.13735247e-02 -2.83178196e-03 9.97445638e-01 -1.38195242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.007719421 meters 0.06088223330905987 Centerline is valid? [True, True] Translation: X:130.31, Y:-29.12, Z:-13.83 [[ 8.85922772e-01 4.59186928e-01 6.54844040e-02 1.30313424e+02] [-4.58193957e-01 8.88334178e-01 -3.03428160e-02 -2.91231953e+01] [-7.21050586e-02 -3.12316653e-03 9.97392153e-01 -1.38257057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.037719421 meters 0.06064760921411985 Centerline is valid? [True, True] Translation: X:130.34, Y:-29.14, Z:-13.83 [[ 8.85332820e-01 4.60291720e-01 6.57063985e-02 1.30341943e+02] [-4.59295590e-01 8.87761845e-01 -3.04379300e-02 -2.91382186e+01] [-7.23419607e-02 -3.23096073e-03 9.97374655e-01 -1.38271594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.067719421 meters 0.06309787362693903 Centerline is valid? [True, True] Translation: X:130.37, Y:-29.15, Z:-13.83 [[ 8.84866407e-01 4.61046566e-01 6.66896215e-02 1.30372184e+02] [-4.60020834e-01 8.87369725e-01 -3.09160862e-02 -2.91483192e+01] [-7.34321065e-02 -3.32200915e-03 9.97294686e-01 -1.38316313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.097719421 meters 0.05948621060066183 Centerline is valid? [True, True] Translation: X:130.40, Y:-29.17, Z:-13.83 [[ 8.86148592e-01 4.58250551e-01 6.88992359e-02 1.30395864e+02] [-4.57144631e-01 8.88817433e-01 -3.19743276e-02 -2.91722282e+01] [-7.58910952e-02 -3.16291041e-03 9.97111096e-01 -1.38278012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.127719421 meters 0.05828115655740189 Centerline is valid? [True, True] Translation: X:130.42, Y:-29.19, Z:-13.83 [[ 8.89528577e-01 4.51380310e-01 7.06733802e-02 1.30421659e+02] [-4.50194640e-01 8.92327771e-01 -3.28014398e-02 -2.91882656e+01] [-7.78697439e-02 -2.63895894e-03 9.96960049e-01 -1.38315993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.157719421 meters 0.0561557896804867 Centerline is valid? [True, True] Translation: X:130.45, Y:-29.21, Z:-13.83 [[ 8.91548261e-01 4.47389892e-01 7.05973215e-02 1.30448120e+02] [-4.46194331e-01 8.94336094e-01 -3.27653843e-02 -2.92072555e+01] [-7.77966345e-02 -2.28820326e-03 9.96966623e-01 -1.38332130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.187719421 meters 0.053923884911639304 Centerline is valid? [True, True] Translation: X:130.47, Y:-29.23, Z:-13.83 [[ 8.95648928e-01 4.38797342e-01 7.25940109e-02 1.30472368e+02] [-4.37504325e-01 8.98584666e-01 -3.36981403e-02 -2.92290477e+01] [-8.00185194e-02 -1.57849044e-03 9.96792127e-01 -1.38345349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.217719421 meters 0.05329245594195997 Centerline is valid? [True, True] Translation: X:130.50, Y:-29.25, Z:-13.84 [[ 8.97420499e-01 4.35142247e-01 7.27163922e-02 1.30499193e+02] [-4.33833110e-01 9.00360841e-01 -3.37518592e-02 -2.92467812e+01] [-8.01578519e-02 -1.25716826e-03 9.96781389e-01 -1.38359183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.247719421 meters 0.052782811099695036 Centerline is valid? [True, True] Translation: X:130.52, Y:-29.27, Z:-13.84 [[ 9.01013693e-01 4.27867069e-01 7.14429662e-02 1.30524308e+02] [-4.26578572e-01 9.03841491e-01 -3.31855618e-02 -2.92662357e+01] [-7.87721261e-02 -5.75392933e-04 9.96892482e-01 -1.38398618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.277719421 meters 0.05283470968777642 Centerline is valid? [True, True] Translation: X:130.55, Y:-29.28, Z:-13.85 [[ 9.02864496e-01 4.24211434e-01 6.98595788e-02 1.30552354e+02] [-4.22966548e-01 9.05563144e-01 -3.24760124e-02 -2.92817391e+01] [-7.70389556e-02 -2.26826253e-04 9.97028058e-01 -1.38467465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.307719421 meters 0.05287415442997004 Centerline is valid? [True, True] Translation: X:130.58, Y:-29.30, Z:-13.85 [[ 9.04404649e-01 4.20959252e-01 6.96099108e-02 1.30580635e+02] [-4.19713452e-01 9.07079547e-01 -3.23622097e-02 -2.92972392e+01] [-7.67648980e-02 5.23169247e-05 9.97049220e-01 -1.38518271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.337719421 meters 0.053442786179979565 Centerline is valid? [True, True] Translation: X:130.61, Y:-29.31, Z:-13.86 [[ 9.06733678e-01 4.16085487e-01 6.86068877e-02 1.30607376e+02] [-4.14858827e-01 9.09325370e-01 -3.19300108e-02 -2.93118445e+01] [-7.56715976e-02 4.89843192e-04 9.97132674e-01 -1.38571918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.367719421 meters 0.05342694171038235 Centerline is valid? [True, True] Translation: X:130.64, Y:-29.32, Z:-13.86 [[ 9.07579902e-01 4.14071008e-01 6.95982805e-02 1.30638248e+02] [-4.12801996e-01 9.10244332e-01 -3.24001299e-02 -2.93248975e+01] [-7.67673948e-02 6.75397666e-04 9.97048801e-01 -1.38568136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.397719421 meters 0.053505513372876345 Centerline is valid? [True, True] Translation: X:130.67, Y:-29.34, Z:-13.86 [[ 9.07404035e-01 4.14625325e-01 6.85839427e-02 1.30667033e+02] [-4.13392368e-01 9.09991990e-01 -3.19582353e-02 -2.93355956e+01] [-7.56615322e-02 6.46953182e-04 9.97133348e-01 -1.38603080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.427719421 meters 0.0534799097728515 Centerline is valid? [True, True] Translation: X:130.70, Y:-29.35, Z:-13.86 [[ 9.06473013e-01 4.16741149e-01 6.80697597e-02 1.30697775e+02] [-4.15530964e-01 9.09025070e-01 -3.17401916e-02 -2.93452264e+01] [-7.51045620e-02 4.86534182e-04 9.97175545e-01 -1.38647398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.457719421 meters 0.052983656423402734 Centerline is valid? [True, True] Translation: X:130.73, Y:-29.35, Z:-13.87 [[ 9.05188908e-01 4.19524099e-01 6.80630022e-02 1.30730613e+02] [-4.18319985e-01 9.07744156e-01 -3.17637913e-02 -2.93502694e+01] [-7.51094684e-02 2.80117545e-04 9.97175255e-01 -1.38675676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.487719421 meters 0.052993656152532875 Centerline is valid? [True, True] Translation: X:130.76, Y:-29.36, Z:-13.87 [[ 9.04817318e-01 4.20281181e-01 6.83326414e-02 1.30760221e+02] [-4.19067669e-01 9.07393889e-01 -3.19158054e-02 -2.93599004e+01] [-7.54182336e-02 2.41972710e-04 9.97151960e-01 -1.38716159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.517719421 meters 0.052993656152532875 Centerline is valid? [True, True] Translation: X:130.79, Y:-29.37, Z:-13.87 [[ 9.04675136e-01 4.20588492e-01 6.83243655e-02 1.30789331e+02] [-4.19374518e-01 9.07251489e-01 -3.19335104e-02 -2.93737746e+01] [-7.54182493e-02 2.35955076e-04 9.97151960e-01 -1.38749448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54771942099998 meters 0.05318178087222747 Centerline is valid? [True, True] Translation: X:130.82, Y:-29.38, Z:-13.88 [[ 9.03874391e-01 4.22531957e-01 6.69165937e-02 1.30821549e+02] [-4.21370728e-01 9.06348021e-01 -3.13045269e-02 -2.93769835e+01] [-7.38768853e-02 9.86663551e-05 9.97267364e-01 -1.38815827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57771942099998 meters 0.05320195727384711 Centerline is valid? [True, True] Translation: X:130.85, Y:-29.38, Z:-13.88 [[ 9.02861299e-01 4.24807099e-01 6.61846180e-02 1.30853866e+02] [-4.23675748e-01 9.05283891e-01 -3.09828499e-02 -2.93827936e+01] [-7.30776032e-02 -6.76013769e-05 9.97326255e-01 -1.38837991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60771942099998 meters 0.05351709963072235 Centerline is valid? [True, True] Translation: X:130.88, Y:-29.39, Z:-13.89 [[ 9.02260193e-01 4.26202465e-01 6.54064450e-02 1.30883443e+02] [-4.25099484e-01 9.04627788e-01 -3.06430153e-02 -2.93923469e+01] [-7.22286163e-02 -1.56273157e-04 9.97388090e-01 -1.38895006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63771942099999 meters 0.052974433196488445 Centerline is valid? [True, True] Translation: X:130.92, Y:-29.40, Z:-13.89 [[ 9.00957809e-01 4.28811606e-01 6.62995747e-02 1.30917887e+02] [-4.27683240e-01 9.03393872e-01 -3.10895300e-02 -2.93966473e+01] [-7.32261808e-02 -3.44862077e-04 9.97315300e-01 -1.38876662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.667719421 meters 0.05310728948809732 Centerline is valid? [True, True] Translation: X:130.95, Y:-29.40, Z:-13.89 [[ 8.99840325e-01 4.31009481e-01 6.72176817e-02 1.30949030e+02] [-4.29855431e-01 9.02347244e-01 -3.15239510e-02 -2.94028177e+01] [-7.42408116e-02 -5.27363221e-04 9.97240204e-01 -1.38921648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.697719421 meters 0.05306273589392654 Centerline is valid? [True, True] Translation: X:130.98, Y:-29.41, Z:-13.89 [[ 8.97982831e-01 4.34433502e-01 6.99597581e-02 1.30984052e+02] [-4.33191240e-01 9.00703540e-01 -3.28402670e-02 -2.94053457e+01] [-7.72799140e-02 -8.15958486e-04 9.97009102e-01 -1.38926922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.727719421 meters 0.05324735811131342 Centerline is valid? [True, True] Translation: X:131.02, Y:-29.41, Z:-13.90 [[ 8.96890446e-01 4.36661544e-01 7.01015243e-02 1.31015471e+02] [-4.35420708e-01 8.99625302e-01 -3.29108436e-02 -2.94144233e+01] [-7.74360047e-02 -1.00623419e-03 9.96996817e-01 -1.38956869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.757719421 meters 0.05414180904546612 Centerline is valid? [True, True] Translation: X:131.05, Y:-29.42, Z:-13.90 [[ 8.94270563e-01 4.41997192e-01 7.01330388e-02 1.31048518e+02] [-4.40769512e-01 8.97015271e-01 -3.29521086e-02 -2.94183389e+01] [-7.74751462e-02 -1.44440453e-03 9.96993237e-01 -1.38990586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.787719421 meters 0.0550718034204868 Centerline is valid? [True, True] Translation: X:131.08, Y:-29.43, Z:-13.90 [[ 8.92779374e-01 4.45020046e-01 7.00153392e-02 1.31079445e+02] [-4.43803634e-01 8.95519034e-01 -3.29240781e-02 -2.94252566e+01] [-7.73519437e-02 -1.67912415e-03 9.97002436e-01 -1.39037723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.817719421 meters 0.05741005356744525 Centerline is valid? [True, True] Translation: X:131.11, Y:-29.43, Z:-13.91 [[ 8.89405002e-01 4.52042552e-01 6.79431618e-02 1.31111688e+02] [-4.50916298e-01 8.91993647e-01 -3.19660228e-02 -2.94285295e+01] [-7.50548712e-02 -2.20593838e-03 9.97176965e-01 -1.39096563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.847719421 meters 0.059228539257795317 Centerline is valid? [True, True] Translation: X:131.14, Y:-29.44, Z:-13.91 [[ 8.87635292e-01 4.55520877e-01 6.78551339e-02 1.31141947e+02] [-4.54408092e-01 8.90221586e-01 -3.19188641e-02 -2.94373556e+01] [-7.49458139e-02 -2.50161164e-03 9.97184470e-01 -1.39141377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.877719421 meters 0.060651379138690904 Centerline is valid? [True, True] Translation: X:131.17, Y:-29.45, Z:-13.92 [[ 8.85396034e-01 4.59761402e-01 6.85077786e-02 1.31172752e+02] [-4.58637994e-01 8.88037854e-01 -3.22484299e-02 -2.94457385e+01] [-7.56640840e-02 -2.86763823e-03 9.97129241e-01 -1.39184503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.907719421 meters 0.06026027988222026 Centerline is valid? [True, True] Translation: X:131.20, Y:-29.46, Z:-13.92 [[ 8.84475377e-01 4.61466602e-01 6.89339022e-02 1.31201414e+02] [-4.60332658e-01 8.87152465e-01 -3.24707088e-02 -2.94605144e+01] [-7.61390290e-02 -3.01298403e-03 9.97092659e-01 -1.39202968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.937719421 meters 0.06032653478723673 Centerline is valid? [True, True] Translation: X:131.23, Y:-29.48, Z:-13.93 [[ 8.84583154e-01 4.61510377e-01 6.72370057e-02 1.31229638e+02] [-4.60430003e-01 8.87130001e-01 -3.16950058e-02 -2.94761649e+01] [-7.42755391e-02 -2.92106654e-03 9.97233479e-01 -1.39251803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.967719421 meters 0.061633286695104324 Centerline is valid? [True, True] Translation: X:131.26, Y:-29.49, Z:-13.93 [[ 8.84881281e-01 4.61159167e-01 6.57064782e-02 1.31257067e+02] [-4.60124755e-01 8.87313000e-01 -3.09975782e-02 -2.94886962e+01] [-7.25970297e-02 -2.80400051e-03 9.97357413e-01 -1.39321914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.997719421 meters 0.0585651027411407 Centerline is valid? [True, True] Translation: X:131.28, Y:-29.51, Z:-13.93 [[ 8.86938877e-01 4.57126929e-01 6.61392442e-02 1.31280860e+02] [-4.56065553e-01 8.89398053e-01 -3.12300312e-02 -2.95124626e+01] [-7.31002032e-02 -2.46470219e-03 9.97321556e-01 -1.39325366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.027719421 meters 0.05900404527102212 Centerline is valid? [True, True] Translation: X:131.31, Y:-29.53, Z:-13.94 [[ 8.88258288e-01 4.54611478e-01 6.57694358e-02 1.31307840e+02] [-4.53554948e-01 8.90687022e-01 -3.10570092e-02 -2.95266052e+01] [-7.26988558e-02 -2.24340728e-03 9.97351414e-01 -1.39395745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.057719421 meters 0.05740227456341103 Centerline is valid? [True, True] Translation: X:131.33, Y:-29.55, Z:-13.95 [[ 8.91500839e-01 4.48499092e-01 6.38343087e-02 1.31330737e+02] [-4.47486363e-01 8.93781729e-01 -3.01691240e-02 -2.95479731e+01] [-7.05847634e-02 -1.66918330e-03 9.97504388e-01 -1.39461277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.087719421 meters 0.05566850327400151 Centerline is valid? [True, True] Translation: X:131.36, Y:-29.57, Z:-13.95 [[ 8.92788188e-01 4.45998737e-01 6.33591179e-02 1.31357139e+02] [-4.44994573e-01 8.95032402e-01 -2.99470964e-02 -2.95682767e+01] [-7.00648307e-02 -1.45804969e-03 9.97541374e-01 -1.39456984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.117719421 meters 0.054532713474062425 Centerline is valid? [True, True] Translation: X:131.38, Y:-29.59, Z:-13.95 [[ 8.95505808e-01 4.40323225e-01 6.46900656e-02 1.31382930e+02] [-4.39259170e-01 8.97838765e-01 -3.06093847e-02 -2.95874857e+01] [-7.15592716e-02 -1.00482268e-03 9.97435843e-01 -1.39470574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.147719421 meters 0.05410040060755989 Centerline is valid? [True, True] Translation: X:131.41, Y:-29.60, Z:-13.95 [[ 8.96554181e-01 4.38093141e-01 6.53069694e-02 1.31410428e+02] [-4.37003125e-01 8.98929194e-01 -3.08961700e-02 -2.96049087e+01] [-7.22417415e-02 -8.39259376e-04 9.97386799e-01 -1.39482872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.177719421 meters 0.05380865831209935 Centerline is valid? [True, True] Translation: X:131.44, Y:-29.63, Z:-13.95 [[ 8.99184617e-01 4.32870526e-01 6.39541442e-02 1.31436310e+02] [-4.31810506e-01 9.01456019e-01 -3.02775828e-02 -2.96258973e+01] [-7.07581215e-02 -3.90934688e-04 9.97493426e-01 -1.39510696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.207719421 meters 0.053789052261125195 Centerline is valid? [True, True] Translation: X:131.46, Y:-29.64, Z:-13.95 [[ 9.00615919e-01 4.29995008e-01 6.32080634e-02 1.31464590e+02] [-4.28950668e-01 9.02831255e-01 -2.99507995e-02 -2.96428300e+01] [-6.99449094e-02 -1.38974203e-04 9.97550846e-01 -1.39544008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.237719421 meters 0.053794566572593225 Centerline is valid? [True, True] Translation: X:131.49, Y:-29.66, Z:-13.96 [[ 9.02809547e-01 4.25241998e-01 6.40637548e-02 1.31491814e+02] [-4.24155098e-01 9.05079652e-01 -3.03854806e-02 -2.96600009e+01] [-7.09039834e-02 2.59333836e-04 9.97483112e-01 -1.39567363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.267719421 meters 0.05398072603844835 Centerline is valid? [True, True] Translation: X:131.52, Y:-29.68, Z:-13.96 [[ 9.03376489e-01 4.23956096e-01 6.45921640e-02 1.31520984e+02] [-4.22846240e-01 9.05682660e-01 -3.06590240e-02 -2.96755195e+01] [-7.14980831e-02 3.84087804e-04 9.97440663e-01 -1.39591258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29771942099998 meters 0.054155267283212044 Centerline is valid? [True, True] Translation: X:131.55, Y:-29.69, Z:-13.96 [[ 9.04251724e-01 4.21905723e-01 6.57600147e-02 1.31548937e+02] [-4.20747617e-01 9.06639520e-01 -3.12445786e-02 -2.96893611e+01] [-7.28028947e-02 5.84594588e-04 9.97346177e-01 -1.39628921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32771942099998 meters 0.054836910079699715 Centerline is valid? [True, True] Translation: X:131.58, Y:-29.70, Z:-13.97 [[ 9.05062704e-01 4.20467076e-01 6.37882472e-02 1.31576808e+02] [-4.19372440e-01 9.07307528e-01 -3.03283063e-02 -2.97042859e+01] [-7.06276112e-02 6.97986015e-04 9.97502508e-01 -1.39677900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35771942099998 meters 0.05492253921397436 Centerline is valid? [True, True] Translation: X:131.61, Y:-29.72, Z:-13.97 [[ 9.05249357e-01 4.20178421e-01 6.30372616e-02 1.31605341e+02] [-4.19107213e-01 9.07441215e-01 -2.99930895e-02 -2.97190114e+01] [-6.98050583e-02 7.31853987e-04 9.97560383e-01 -1.39706072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38771942099999 meters 0.054868785076414864 Centerline is valid? [True, True] Translation: X:131.63, Y:-29.73, Z:-13.97 [[ 9.05930713e-01 4.18701357e-01 6.30770706e-02 1.31634687e+02] [-4.17623621e-01 9.08123572e-01 -3.00347922e-02 -2.97315381e+01] [-6.98573829e-02 8.66966083e-04 9.97556612e-01 -1.39725573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.417719421 meters 0.0556410735933356 Centerline is valid? [True, True] Translation: X:131.66, Y:-29.74, Z:-13.98 [[ 9.06327602e-01 4.17954220e-01 6.23261387e-02 1.31662467e+02] [-4.16898340e-01 9.08467605e-01 -2.97049772e-02 -2.97437660e+01] [-6.90365985e-02 9.38777048e-04 9.97613686e-01 -1.39797363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.447719421 meters 0.05643967598565121 Centerline is valid? [True, True] Translation: X:131.69, Y:-29.76, Z:-13.98 [[ 9.07348514e-01 4.15866417e-01 6.14312424e-02 1.31691863e+02] [-4.14835351e-01 9.09425059e-01 -2.92864134e-02 -2.97550467e+01] [-6.80463471e-02 1.08913266e-03 9.97681567e-01 -1.39844118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.477719421 meters 0.057032306196896455 Centerline is valid? [True, True] Translation: X:131.72, Y:-29.77, Z:-13.99 [[ 9.07895664e-01 4.14618742e-01 6.17799433e-02 1.31719967e+02] [-4.13571690e-01 9.09994418e-01 -2.94723021e-02 -2.97697683e+01] [-6.84391723e-02 1.20733975e-03 9.97654560e-01 -1.39876042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.507719421 meters 0.057193454658201165 Centerline is valid? [True, True] Translation: X:131.75, Y:-29.78, Z:-13.99 [[ 9.09004221e-01 4.12106168e-01 6.22882963e-02 1.31748857e+02] [-4.11034389e-01 9.11134714e-01 -2.97365784e-02 -2.97849137e+01] [-6.90076565e-02 1.42804351e-03 9.97615108e-01 -1.39874708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.537719421 meters 0.061188908406292104 Centerline is valid? [True, True] Translation: X:131.77, Y:-29.80, Z:-13.99 [[ 9.11667692e-01 4.06078950e-01 6.29436757e-02 1.31773359e+02] [-4.04968078e-01 9.13835957e-01 -3.00782089e-02 -2.98039148e+01] [-6.97343217e-02 1.93115191e-03 9.97563730e-01 -1.39940333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.567719421 meters 0.062023596989613336 Centerline is valid? [True, True] Translation: X:131.80, Y:-29.81, Z:-14.00 [[ 9.13633089e-01 4.01664254e-01 6.27726519e-02 1.31804137e+02] [-4.00547899e-01 9.15784169e-01 -3.00122823e-02 -2.98109110e+01] [-6.95410618e-02 2.27676039e-03 9.97576492e-01 -1.39958285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.597719421 meters 0.06256845151987765 Centerline is valid? [True, True] Translation: X:131.83, Y:-29.82, Z:-14.00 [[ 9.13943344e-01 4.00986356e-01 6.25899943e-02 1.31834753e+02] [-3.99875477e-01 9.16081103e-01 -2.99168015e-02 -2.98212679e+01] [-6.93337402e-02 2.31405780e-03 9.97590837e-01 -1.39996906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.627719421 meters 0.06060891343470765 Centerline is valid? [True, True] Translation: X:131.87, Y:-29.82, Z:-14.00 [[ 9.13796580e-01 4.01092255e-01 6.40375973e-02 1.31870283e+02] [-3.99927490e-01 9.16034556e-01 -3.06381395e-02 -2.98235788e+01] [-7.09493725e-02 2.38663149e-03 9.97477063e-01 -1.39976617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.657719421 meters 0.06018414253670643 Centerline is valid? [True, True] Translation: X:131.90, Y:-29.83, Z:-14.00 [[ 9.13289930e-01 4.02183136e-01 6.44222677e-02 1.31902185e+02] [-4.01006390e-01 9.15556292e-01 -3.08309943e-02 -2.98324760e+01] [-7.13819185e-02 2.32389561e-03 9.97446350e-01 -1.40001607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.687719421 meters 0.05925699286530118 Centerline is valid? [True, True] Translation: X:131.93, Y:-29.84, Z:-14.00 [[ 9.12687231e-01 4.03558057e-01 6.43654563e-02 1.31933627e+02] [-4.02386671e-01 9.14951356e-01 -3.08055799e-02 -2.98403249e+01] [-7.13231015e-02 2.21605774e-03 9.97450803e-01 -1.40021221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.717719421 meters 0.06180678816566949 Centerline is valid? [True, True] Translation: X:131.96, Y:-29.85, Z:-14.01 [[ 9.11671986e-01 4.05833291e-01 6.44478760e-02 1.31963610e+02] [-4.04662455e-01 9.13944782e-01 -3.08744778e-02 -2.98476922e+01] [-7.14316909e-02 2.06776077e-03 9.97443351e-01 -1.40127121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.747719421 meters 0.058220769400659574 Centerline is valid? [True, True] Translation: X:132.00, Y:-29.84, Z:-14.01 [[ 9.10294674e-01 4.08860012e-01 6.47850052e-02 1.32001068e+02] [-4.07683208e-01 9.12595224e-01 -3.10541226e-02 -2.98438821e+01] [-7.18192753e-02 1.85664369e-03 9.97415934e-01 -1.40112685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.777719421 meters 0.06020313778721942 Centerline is valid? [True, True] Translation: X:132.03, Y:-29.86, Z:-14.02 [[ 9.09779019e-01 4.10069021e-01 6.43858264e-02 1.32029115e+02] [-4.08909873e-01 9.12052817e-01 -3.08605644e-02 -2.98563538e+01] [-7.13782358e-02 1.74829385e-03 9.97447789e-01 -1.40210540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.807719421 meters 0.056997756701356254 Centerline is valid? [True, True] Translation: X:132.07, Y:-29.85, Z:-14.02 [[ 9.08852131e-01 4.12209954e-01 6.38024895e-02 1.32065549e+02] [-4.11075554e-01 9.11087506e-01 -3.06014120e-02 -2.98547665e+01] [-7.07438576e-02 1.58451480e-03 9.97493256e-01 -1.40181007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.837719421 meters 0.05642054437492549 Centerline is valid? [True, True] Translation: X:132.10, Y:-29.86, Z:-14.02 [[ 9.08084313e-01 4.14018754e-01 6.30186645e-02 1.32097770e+02] [-4.12914940e-01 9.10267204e-01 -3.02468194e-02 -2.98624353e+01] [-6.98865740e-02 1.44531417e-03 9.97553897e-01 -1.40217676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.867719421 meters 0.056348807989885806 Centerline is valid? [True, True] Translation: X:132.13, Y:-29.87, Z:-14.03 [[ 9.06666720e-01 4.17433997e-01 6.08631042e-02 1.32130199e+02] [-4.16410365e-01 9.08706498e-01 -2.92388276e-02 -2.98662033e+01] [-6.75119789e-02 1.16584445e-03 9.97717782e-01 -1.40305066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.897719421 meters 0.05606346582690819 Centerline is valid? [True, True] Translation: X:132.16, Y:-29.88, Z:-14.03 [[ 9.05875387e-01 4.19250977e-01 6.01531458e-02 1.32162256e+02] [-4.18253511e-01 9.07869779e-01 -2.89216931e-02 -2.98756563e+01] [-6.67366713e-02 1.04018552e-03 9.97770081e-01 -1.40346475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.927719421 meters 0.05562194782826131 Centerline is valid? [True, True] Translation: X:132.19, Y:-29.88, Z:-14.04 [[ 9.04735063e-01 4.21866871e-01 5.90153351e-02 1.32194161e+02] [-4.20910757e-01 9.06657385e-01 -2.83993001e-02 -2.98837474e+01] [-6.54874133e-02 8.53653161e-04 9.97853030e-01 -1.40395075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.957719421 meters 0.05478386146229081 Centerline is valid? [True, True] Translation: X:132.23, Y:-29.88, Z:-14.04 [[ 9.02076321e-01 4.27568855e-01 5.86786638e-02 1.32229807e+02] [-4.26633886e-01 9.03982666e-01 -2.82642262e-02 -2.98841805e+01] [-6.51293978e-02 4.62182779e-04 9.97876720e-01 -1.40433044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.987719421 meters 0.0545091119879343 Centerline is valid? [True, True] Translation: X:132.26, Y:-29.89, Z:-14.05 [[ 8.99149948e-01 4.33925269e-01 5.69054614e-02 1.32261165e+02] [-4.33056284e-01 9.00948866e-01 -2.74480561e-02 -2.98853688e+01] [-6.31793161e-02 3.66505315e-05 9.98002191e-01 -1.40469707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.017719421 meters 0.05445901322705331 Centerline is valid? [True, True] Translation: X:132.29, Y:-29.89, Z:-14.05 [[ 8.97602048e-01 4.37102672e-01 5.70247104e-02 1.32289338e+02] [-4.36236770e-01 8.99411595e-01 -2.75002408e-02 -2.98909357e+01] [-6.33091145e-02 -1.92002974e-04 9.97993947e-01 -1.40504131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04771942099998 meters 0.05430168254749592 Centerline is valid? [True, True] Translation: X:132.32, Y:-29.90, Z:-14.05 [[ 8.95564999e-01 4.41218401e-01 5.73555233e-02 1.32319632e+02] [-4.40351383e-01 8.97399621e-01 -2.76510472e-02 -2.98954534e+01] [-6.36709757e-02 -4.93273906e-04 9.97970823e-01 -1.40512826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07771942099998 meters 0.05540776191274961 Centerline is valid? [True, True] Translation: X:132.35, Y:-29.89, Z:-14.05 [[ 8.90861303e-01 4.50127031e-01 6.12519017e-02 1.32352895e+02] [-4.49159439e-01 8.92963711e-01 -2.95230155e-02 -2.98902191e+01] [-6.79848328e-02 -1.21095775e-03 9.97685620e-01 -1.40525356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10771942099998 meters 0.05749316217304787 Centerline is valid? [True, True] Translation: X:132.39, Y:-29.89, Z:-14.05 [[ 8.86534285e-01 4.58097176e-01 6.48377840e-02 1.32385568e+02] [-4.57034694e-01 8.88900011e-01 -3.12419496e-02 -2.98875478e+01] [-7.19461558e-02 -1.93605731e-03 9.97406638e-01 -1.40517304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13771942099999 meters 0.05800967446256169 Centerline is valid? [True, True] Translation: X:132.41, Y:-29.90, Z:-14.05 [[ 8.85036043e-01 4.60893572e-01 6.54852532e-02 1.32413669e+02] [-4.59817521e-01 8.87452721e-01 -3.15517742e-02 -2.98952131e+01] [-7.26570761e-02 -2.18680944e-03 9.97354584e-01 -1.40526989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.167719421 meters 0.06005673498155635 Centerline is valid? [True, True] Translation: X:132.44, Y:-29.90, Z:-14.06 [[ 8.83605222e-01 4.63473969e-01 6.65859767e-02 1.32441379e+02] [-4.62370815e-01 8.86107107e-01 -3.20534661e-02 -2.98999056e+01] [-7.38582543e-02 -2.46480228e-03 9.97265703e-01 -1.40571933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.197719421 meters 0.059931418641577916 Centerline is valid? [True, True] Translation: X:132.47, Y:-29.91, Z:-14.06 [[ 8.83825469e-01 4.63066277e-01 6.64993492e-02 1.32466398e+02] [-4.61965622e-01 8.86320306e-01 -3.20012406e-02 -2.99120483e+01] [-7.37584189e-02 -2.43690167e-03 9.97273161e-01 -1.40602357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.227719421 meters 0.05918159345458073 Centerline is valid? [True, True] Translation: X:132.49, Y:-29.93, Z:-14.06 [[ 8.84366000e-01 4.62187980e-01 6.54144471e-02 1.32491002e+02] [-4.61122555e-01 8.86778864e-01 -3.14521084e-02 -2.99264369e+01] [-7.25449355e-02 -2.34890174e-03 9.97362379e-01 -1.40625631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.257719421 meters 0.05857497186219233 Centerline is valid? [True, True] Translation: X:132.52, Y:-29.94, Z:-14.07 [[ 8.85271441e-01 4.60559506e-01 6.46484131e-02 1.32515588e+02] [-4.59516239e-01 8.87626080e-01 -3.10607112e-02 -2.99421067e+01] [-7.16889233e-02 -2.20983509e-03 9.97424591e-01 -1.40670728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.287719421 meters 0.057374229235036586 Centerline is valid? [True, True] Translation: X:132.54, Y:-29.96, Z:-14.07 [[ 8.85757140e-01 4.59348949e-01 6.65795130e-02 1.32539368e+02] [-4.58241308e-01 8.88253166e-01 -3.19564794e-02 -2.99590228e+01] [-7.38186384e-02 -2.20380336e-03 9.97269247e-01 -1.40661044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.317719421 meters 0.05816955024440716 Centerline is valid? [True, True] Translation: X:132.56, Y:-29.97, Z:-14.07 [[ 8.85707729e-01 4.59512050e-01 6.61097148e-02 1.32563853e+02] [-4.58420875e-01 8.88168794e-01 -3.17253075e-02 -2.99703173e+01] [-7.32947467e-02 -2.20672319e-03 9.97307881e-01 -1.40714265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.347719421 meters 0.05844713041071303 Centerline is valid? [True, True] Translation: X:132.59, Y:-29.99, Z:-14.08 [[ 8.85561962e-01 4.60199695e-01 6.32159077e-02 1.32588366e+02] [-4.59204696e-01 8.87812766e-01 -3.03238983e-02 -2.99869189e+01] [-7.00789386e-02 -2.17535076e-03 9.97539077e-01 -1.40766519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.377719421 meters 0.05978147674655592 Centerline is valid? [True, True] Translation: X:132.61, Y:-30.00, Z:-14.08 [[ 8.85419828e-01 4.60644688e-01 6.19531995e-02 1.32612884e+02] [-4.59690226e-01 8.87581982e-01 -2.97173531e-02 -2.99988261e+01] [-6.86776845e-02 -2.16694655e-03 9.97636547e-01 -1.40837892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.407719421 meters 0.05978147674655592 Centerline is valid? [True, True] Translation: X:132.64, Y:-30.01, Z:-14.09 [[ 8.85571323e-01 4.60353386e-01 6.19531395e-02 1.32637708e+02] [-4.59398203e-01 8.87733159e-01 -2.97174825e-02 -3.00104377e+01] [-6.86784000e-02 -2.14421063e-03 9.97636547e-01 -1.40866089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.437719421 meters 0.05922481644903463 Centerline is valid? [True, True] Translation: X:132.66, Y:-30.03, Z:-14.09 [[ 8.85537595e-01 4.60538336e-01 6.10541477e-02 1.32661132e+02] [-4.59613366e-01 8.87637196e-01 -2.92534156e-02 -3.00271009e+01] [-6.76662518e-02 -2.15630300e-03 9.97705682e-01 -1.40888731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.467719421 meters 0.05848923062286629 Centerline is valid? [True, True] Translation: X:132.68, Y:-30.05, Z:-14.09 [[ 8.87260694e-01 4.57220674e-01 6.09730802e-02 1.32682437e+02] [-4.56290877e-01 8.89351233e-01 -2.92065007e-02 -3.00454179e+01] [-6.75803001e-02 -1.90768014e-03 9.97712014e-01 -1.40943516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.497719421 meters 0.05790766169872399 Centerline is valid? [True, True] Translation: X:132.71, Y:-30.06, Z:-14.10 [[ 8.88571315e-01 4.54683756e-01 6.08580265e-02 1.32706459e+02] [-4.53752114e-01 8.90651293e-01 -2.91426274e-02 -3.00614285e+01] [-6.74539593e-02 -1.71915539e-03 9.97720907e-01 -1.40982267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.527719421 meters 0.05665836015676958 Centerline is valid? [True, True] Translation: X:132.73, Y:-30.08, Z:-14.10 [[ 8.91681804e-01 4.48568130e-01 6.07469540e-02 1.32727355e+02] [-4.47626154e-01 8.93747753e-01 -2.90823167e-02 -3.00831528e+01] [-6.73378540e-02 -1.25975271e-03 9.97729435e-01 -1.41017982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.557719421 meters 0.05583393104662233 Centerline is valid? [True, True] Translation: X:132.75, Y:-30.10, Z:-14.11 [[ 8.93776083e-01 4.44605045e-01 5.90818810e-02 1.32749936e+02] [-4.43705615e-01 8.95726228e-01 -2.82816451e-02 -3.01017117e+01] [-6.54953525e-02 -9.37504429e-04 9.97852434e-01 -1.41057492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.587719421 meters 0.0551871210151088 Centerline is valid? [True, True] Translation: X:132.77, Y:-30.12, Z:-14.11 [[ 8.96723259e-01 4.38688307e-01 5.86512200e-02 1.32771196e+02] [-4.37789579e-01 8.98639146e-01 -2.80708047e-02 -3.01221168e+01] [-6.50206160e-02 -5.05149486e-04 9.97883793e-01 -1.41094185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.617719421 meters 0.05489632738221885 Centerline is valid? [True, True] Translation: X:132.80, Y:-30.14, Z:-14.11 [[ 8.97839188e-01 4.36286408e-01 5.94891744e-02 1.32796208e+02] [-4.35357160e-01 8.99807786e-01 -2.84621155e-02 -3.01365492e+01] [-6.59464564e-02 -3.44635344e-04 9.97823104e-01 -1.41111077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.647719421 meters 0.05423923631892952 Centerline is valid? [True, True] Translation: X:132.82, Y:-30.15, Z:-14.11 [[ 8.99416491e-01 4.32704354e-01 6.17812009e-02 1.32821069e+02] [-4.31694023e-01 9.01535875e-01 -2.95522737e-02 -3.01527022e+01] [-6.84853665e-02 -9.07728823e-05 9.97652117e-01 -1.41095461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.677719421 meters 0.054205286378816775 Centerline is valid? [True, True] Translation: X:132.85, Y:-30.17, Z:-14.11 [[ 9.01127699e-01 4.28980995e-01 6.28026733e-02 1.32846764e+02] [-4.27928516e-01 9.03313495e-01 -3.00319012e-02 -3.01686055e+01] [-6.96136172e-02 1.87523219e-04 9.97574012e-01 -1.41118255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.707719421 meters 0.05416036557503596 Centerline is valid? [True, True] Translation: X:132.88, Y:-30.19, Z:-14.11 [[ 9.02118553e-01 4.26909393e-01 6.26935876e-02 1.32875514e+02] [-4.25856626e-01 9.04294343e-01 -2.99645530e-02 -3.01850370e+01] [-6.94856057e-02 3.33099469e-04 9.97582899e-01 -1.41130653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.737719421 meters 0.05457972880147447 Centerline is valid? [True, True] Translation: X:132.90, Y:-30.20, Z:-14.12 [[ 9.03219794e-01 4.24550118e-01 6.28585818e-02 1.32902634e+02] [-4.23484119e-01 9.05404277e-01 -3.00715217e-02 -3.02018213e+01] [-6.96792969e-02 5.41582519e-04 9.97569297e-01 -1.41171788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.767719421 meters 0.055608422738069464 Centerline is valid? [True, True] Translation: X:132.93, Y:-30.22, Z:-14.12 [[ 9.06028898e-01 4.18133612e-01 6.53905097e-02 1.32927213e+02] [-4.16961121e-01 9.08384866e-01 -3.13106742e-02 -3.02237908e+01] [-7.24917948e-02 1.10307541e-03 9.97368399e-01 -1.41183478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79771942099998 meters 0.05614644443532594 Centerline is valid? [True, True] Translation: X:132.95, Y:-30.24, Z:-14.12 [[ 9.07433950e-01 4.14896022e-01 6.65200454e-02 1.32954421e+02] [-4.13671884e-01 9.09867738e-01 -3.18790098e-02 -3.02411804e+01] [-7.37509176e-02 1.41062326e-03 9.97275695e-01 -1.41192363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82771942099998 meters 0.058843668416179815 Centerline is valid? [True, True] Translation: X:132.98, Y:-30.26, Z:-14.12 [[ 9.10968267e-01 4.06958828e-01 6.72408220e-02 1.32977809e+02] [-4.05683727e-01 9.13444069e-01 -3.22590689e-02 -3.02621783e+01] [-7.45488429e-02 2.10848078e-03 9.97215134e-01 -1.41220990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85771942099998 meters 0.06047728191257542 Centerline is valid? [True, True] Translation: X:133.00, Y:-30.28, Z:-14.12 [[ 9.12662679e-01 4.03210239e-01 6.68456196e-02 1.33004082e+02] [-4.01940536e-01 9.15104239e-01 -3.20630134e-02 -3.02804124e+01] [-7.40988452e-02 2.39475155e-03 9.97248026e-01 -1.41247321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88771942099999 meters 0.06301010822880543 Centerline is valid? [True, True] Translation: X:133.03, Y:-30.30, Z:-14.13 [[ 9.14862763e-01 3.98058417e-01 6.76433367e-02 1.33028288e+02] [-3.96741696e-01 9.17355562e-01 -3.24776802e-02 -3.02995811e+01] [-7.49810051e-02 2.87568814e-03 9.97180816e-01 -1.41272547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.917719421 meters 0.06392127701689161 Centerline is valid? [True, True] Translation: X:133.06, Y:-30.31, Z:-14.13 [[ 9.16177866e-01 3.94828479e-01 6.87647430e-02 1.33058493e+02] [-3.93458587e-01 9.18749302e-01 -3.30160556e-02 -3.03115989e+01] [-7.62132387e-02 3.19250080e-03 9.97086431e-01 -1.41295338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.947719421 meters 0.06563380086891916 Centerline is valid? [True, True] Translation: X:133.09, Y:-30.33, Z:-14.14 [[ 9.16236896e-01 3.94859469e-01 6.77934388e-02 1.33086257e+02] [-3.93528053e-01 9.18736144e-01 -3.25510144e-02 -3.03257574e+01] [-7.51373588e-02 3.14582045e-03 9.97168231e-01 -1.41350475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.977719421 meters 0.06428354091752625 Centerline is valid? [True, True] Translation: X:133.12, Y:-30.33, Z:-14.14 [[ 9.15611109e-01 3.96442447e-01 6.70050964e-02 1.33119519e+02] [-3.95144399e-01 9.18054670e-01 -3.21951278e-02 -3.03296175e+01] [-7.42778569e-02 3.00152813e-03 9.97233067e-01 -1.41394292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.007719421 meters 0.0633994232809212 Centerline is valid? [True, True] Translation: X:133.15, Y:-30.34, Z:-14.14 [[ 9.14726205e-01 3.98586292e-01 6.63697001e-02 1.33151277e+02] [-3.97316612e-01 9.17126490e-01 -3.19141115e-02 -3.03369906e+01] [-7.35899375e-02 2.82288971e-03 9.97284589e-01 -1.41429177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.037719421 meters 0.060840178972065964 Centerline is valid? [True, True] Translation: X:133.19, Y:-30.33, Z:-14.15 [[ 9.11953443e-01 4.05238191e-01 6.42100239e-02 1.33185428e+02] [-4.04063980e-01 9.14208391e-01 -3.09082145e-02 -3.03347256e+01] [-7.12265316e-02 2.24189488e-03 9.97457646e-01 -1.41485940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.067719421 meters 0.05987714012827478 Centerline is valid? [True, True] Translation: X:133.21, Y:-30.34, Z:-14.15 [[ 9.10463524e-01 4.08744949e-01 6.31168583e-02 1.33214244e+02] [-4.07618496e-01 9.12646596e-01 -3.03867155e-02 -3.03396033e+01] [-7.00238024e-02 1.93839724e-03 9.97543438e-01 -1.41534505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.097719421 meters 0.05728858596999455 Centerline is valid? [True, True] Translation: X:133.25, Y:-30.34, Z:-14.16 [[ 9.07047625e-01 4.16540091e-01 6.13103468e-02 1.33247816e+02] [-4.15495241e-01 9.09116425e-01 -2.95132238e-02 -3.03350125e+01] [-6.80316842e-02 1.29574217e-03 9.97682320e-01 -1.41583761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.127719421 meters 0.05591531687410843 Centerline is valid? [True, True] Translation: X:133.28, Y:-30.34, Z:-14.16 [[ 9.05329752e-01 4.20279240e-01 6.11833439e-02 1.33278988e+02] [-4.19247468e-01 9.07394259e-01 -2.94485940e-02 -3.03379089e+01] [-6.78940477e-02 1.00972634e-03 9.97692026e-01 -1.41594991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.157719421 meters 0.054464278513247304 Centerline is valid? [True, True] Translation: X:133.31, Y:-30.33, Z:-14.16 [[ 9.02011019e-01 4.27129524e-01 6.27414669e-02 1.33313677e+02] [-4.26061515e-01 9.04190312e-01 -3.01904952e-02 -3.03338718e+01] [-6.96254783e-02 5.00434883e-04 9.97573076e-01 -1.41605122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.187719421 meters 0.05447047644699462 Centerline is valid? [True, True] Translation: X:133.34, Y:-30.34, Z:-14.17 [[ 9.00027787e-01 4.31115919e-01 6.39456604e-02 1.33341683e+02] [-4.30018584e-01 9.02296534e-01 -3.07405497e-02 -3.03388895e+01] [-7.09506881e-02 1.69526578e-04 9.97479810e-01 -1.41658071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.217719421 meters 0.05409878386859276 Centerline is valid? [True, True] Translation: X:133.37, Y:-30.34, Z:-14.16 [[ 8.96797855e-01 4.37542516e-01 6.56517606e-02 1.33373152e+02] [-4.36403146e-01 8.99197656e-01 -3.15574047e-02 -3.03422302e+01] [-7.28416155e-02 -3.50022053e-04 9.97343460e-01 -1.41632496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.247719421 meters 0.053832535181399244 Centerline is valid? [True, True] Translation: X:133.40, Y:-30.35, Z:-14.16 [[ 8.96175922e-01 4.38658874e-01 6.66866542e-02 1.33399918e+02] [-4.37488049e-01 8.98653533e-01 -3.20317631e-02 -3.03527696e+01] [-7.39792145e-02 -4.68519439e-04 9.97259673e-01 -1.41649294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.277719421 meters 0.0546948356394443 Centerline is valid? [True, True] Translation: X:133.43, Y:-30.36, Z:-14.17 [[ 8.95540783e-01 4.40023923e-01 6.62242704e-02 1.33426019e+02] [-4.38875174e-01 8.97985848e-01 -3.17804729e-02 -3.03609597e+01] [-7.34526259e-02 -6.03478604e-04 9.97298525e-01 -1.41730292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.307719421 meters 0.05412829903010082 Centerline is valid? [True, True] Translation: X:133.45, Y:-30.37, Z:-14.17 [[ 8.96013929e-01 4.39085304e-01 6.60540311e-02 1.33451488e+02] [-4.37940435e-01 8.98445220e-01 -3.16916762e-02 -3.03736723e+01] [-7.32612777e-02 -5.31547768e-04 9.97312640e-01 -1.41726477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.337719421 meters 0.05417696708438423 Centerline is valid? [True, True] Translation: X:133.48, Y:-30.39, Z:-14.18 [[ 8.97885317e-01 4.35444190e-01 6.47326344e-02 1.33476047e+02] [-4.34337283e-01 9.00215692e-01 -3.10295373e-02 -3.03885423e+01] [-7.17849651e-02 -2.54830628e-04 9.97420099e-01 -1.41767893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.367719421 meters 0.053873699763467224 Centerline is valid? [True, True] Translation: X:133.50, Y:-30.41, Z:-14.18 [[ 9.00226916e-01 4.30552922e-01 6.49282688e-02 1.33498703e+02] [-4.29428805e-01 9.02565327e-01 -3.10923158e-02 -3.04071046e+01] [-7.19888916e-02 1.08070742e-04 9.97405428e-01 -1.41774714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.397719421 meters 0.054007581676470885 Centerline is valid? [True, True] Translation: X:133.52, Y:-30.42, Z:-14.18 [[ 9.01498780e-01 4.27869680e-01 6.50191166e-02 1.33523364e+02] [-4.26735942e-01 9.03840382e-01 -3.11287547e-02 -3.04215624e+01] [-7.20859535e-02 3.16540376e-04 9.97398373e-01 -1.41800099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.427719421 meters 0.05419459827196708 Centerline is valid? [True, True] Translation: X:133.55, Y:-30.43, Z:-14.18 [[ 9.02449576e-01 4.25953618e-01 6.44071319e-02 1.33548813e+02] [-4.24836760e-01 9.04744884e-01 -3.08289262e-02 -3.04342456e+01] [-7.14037157e-02 4.59034139e-04 9.97447391e-01 -1.41840160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.457719421 meters 0.054667269129746336 Centerline is valid? [True, True] Translation: X:133.57, Y:-30.45, Z:-14.19 [[ 9.03688238e-01 4.23256965e-01 6.48159750e-02 1.33573618e+02] [-4.22119382e-01 9.06009433e-01 -3.10183026e-02 -3.04452830e+01] [-7.18525974e-02 6.70795920e-04 9.97415036e-01 -1.41875184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.487719421 meters 0.05480153230343078 Centerline is valid? [True, True] Translation: X:133.60, Y:-30.46, Z:-14.19 [[ 9.04112806e-01 4.22405227e-01 6.44504292e-02 1.33599929e+02] [-4.21278960e-01 9.06406805e-01 -3.08340813e-02 -3.04571337e+01] [-7.14427848e-02 7.25878009e-04 9.97444435e-01 -1.41903903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.517719421 meters 0.055193043309219585 Centerline is valid? [True, True] Translation: X:133.63, Y:-30.47, Z:-14.19 [[ 9.05269216e-01 4.19909233e-01 6.45281519e-02 1.33626539e+02] [-4.18774392e-01 9.07565641e-01 -3.08644618e-02 -3.04689729e+01] [-7.15238061e-02 9.17909532e-04 9.97438471e-01 -1.41927502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54771942099998 meters 0.055240726163428136 Centerline is valid? [True, True] Translation: X:133.65, Y:-30.48, Z:-14.19 [[ 9.06304364e-01 4.17709295e-01 6.42755308e-02 1.33652868e+02] [-4.16578278e-01 9.08580088e-01 -3.07369971e-02 -3.04808494e+01] [-7.12385968e-02 1.08128476e-03 9.97458718e-01 -1.41942370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57771942099998 meters 0.05699551896585546 Centerline is valid? [True, True] Translation: X:133.68, Y:-30.50, Z:-14.20 [[ 9.08958761e-01 4.12196081e-01 6.23567274e-02 1.33676812e+02] [-4.11119088e-01 9.11093985e-01 -2.98135129e-02 -3.04955464e+01] [-6.91018524e-02 1.46321282e-03 9.97608537e-01 -1.42005979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60771942099998 meters 0.058302185516692466 Centerline is valid? [True, True] Translation: X:133.70, Y:-30.51, Z:-14.21 [[ 9.10539282e-01 4.08850404e-01 6.13152756e-02 1.33702060e+02] [-4.07802223e-01 9.12599872e-01 -2.93056474e-02 -3.05105432e+01] [-6.79379385e-02 1.67943744e-03 9.97688136e-01 -1.42052886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63771942099999 meters 0.060793312061806694 Centerline is valid? [True, True] Translation: X:133.73, Y:-30.53, Z:-14.21 [[ 9.13423586e-01 4.02424266e-01 6.09267019e-02 1.33727394e+02] [-4.01375310e-01 9.15450779e-01 -2.91158402e-02 -3.05268812e+01] [-6.74923173e-02 2.14062127e-03 9.97717498e-01 -1.42092831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.667719421 meters 0.06080384923784603 Centerline is valid? [True, True] Translation: X:133.75, Y:-30.54, Z:-14.21 [[ 9.14836457e-01 3.99077852e-01 6.17343038e-02 1.33753919e+02] [-3.97993133e-01 9.16913849e-01 -2.95035595e-02 -3.05377448e+01] [-6.83792553e-02 2.42110291e-03 9.97656462e-01 -1.42081466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.697719421 meters 0.06454658521224484 Centerline is valid? [True, True] Translation: X:133.78, Y:-30.55, Z:-14.21 [[ 9.16844198e-01 3.93991359e-01 6.45563736e-02 1.33776949e+02] [-3.92793230e-01 9.19109507e-01 -3.08414116e-02 -3.05545659e+01] [-7.14856264e-02 2.91946277e-03 9.97437357e-01 -1.42106672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.727719421 meters 0.06425326402694176 Centerline is valid? [True, True] Translation: X:133.81, Y:-30.56, Z:-14.21 [[ 9.18741715e-01 3.89472461e-01 6.49989435e-02 1.33805664e+02] [-3.88246956e-01 9.21032240e-01 -3.10469574e-02 -3.05630317e+01] [-7.19580575e-02 3.28849296e-03 9.97402238e-01 -1.42091177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.757719421 meters 0.06449974858899295 Centerline is valid? [True, True] Translation: X:133.83, Y:-30.57, Z:-14.21 [[ 9.19717451e-01 3.87203377e-01 6.47561190e-02 1.33833387e+02] [-3.85982018e-01 9.21987893e-01 -3.09226108e-02 -3.05732940e+01] [-7.16776970e-02 3.44536733e-03 9.97421895e-01 -1.42112354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.787719421 meters 0.06630816852196135 Centerline is valid? [True, True] Translation: X:133.86, Y:-30.59, Z:-14.22 [[ 9.20610360e-01 3.85302300e-01 6.33932320e-02 1.33858274e+02] [-3.84127524e-01 9.22783711e-01 -3.02699214e-02 -3.05855629e+01] [-7.01613122e-02 3.51571800e-03 9.97529463e-01 -1.42159025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.817719421 meters 0.06849000275203458 Centerline is valid? [True, True] Translation: X:133.88, Y:-30.60, Z:-14.22 [[ 9.21513496e-01 3.83115807e-01 6.35228740e-02 1.33884406e+02] [-3.81931597e-01 9.23692978e-01 -3.03238680e-02 -3.05955810e+01] [-7.02931858e-02 3.68246088e-03 9.97519578e-01 -1.42194778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.847719421 meters 0.06697586282895365 Centerline is valid? [True, True] Translation: X:133.91, Y:-30.60, Z:-14.22 [[ 9.21864578e-01 3.82301062e-01 6.33371802e-02 1.33913856e+02] [-3.81122157e-01 9.24030296e-01 -3.02310179e-02 -3.06015268e+01] [-7.00828236e-02 3.72970187e-03 9.97534204e-01 -1.42203647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.877719421 meters 0.07111633125835637 Centerline is valid? [True, True] Translation: X:133.94, Y:-30.61, Z:-14.23 [[ 9.22946674e-01 3.79830055e-01 6.24385041e-02 1.33940658e+02] [-3.78679254e-01 9.25048251e-01 -2.97952379e-02 -3.06099129e+01] [-6.90757558e-02 3.85524955e-03 9.97603968e-01 -1.42269299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.907719421 meters 0.07173538738507788 Centerline is valid? [True, True] Translation: X:133.97, Y:-30.61, Z:-14.23 [[ 9.23443861e-01 3.78638713e-01 6.23230319e-02 1.33970568e+02] [-3.77489950e-01 9.25536210e-01 -2.97331883e-02 -3.06139148e+01] [-6.89403589e-02 3.93061199e-03 9.97613040e-01 -1.42294790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.937719421 meters 0.07021749496264941 Centerline is valid? [True, True] Translation: X:134.00, Y:-30.62, Z:-14.23 [[ 9.23620511e-01 3.78217556e-01 6.22626088e-02 1.33999862e+02] [-3.77070507e-01 9.25708302e-01 -2.96980277e-02 -3.06196616e+01] [-6.88693293e-02 3.95231402e-03 9.97617860e-01 -1.42301826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.967719421 meters 0.06759042263818311 Centerline is valid? [True, True] Translation: X:134.03, Y:-30.62, Z:-14.23 [[ 9.22652202e-01 3.80428818e-01 6.31413304e-02 1.34033036e+02] [-3.79254848e-01 9.24802260e-01 -3.01088043e-02 -3.06187824e+01] [-6.98475019e-02 3.83329896e-03 9.97550316e-01 -1.42307624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.997719421 meters 0.06681374977822561 Centerline is valid? [True, True] Translation: X:134.06, Y:-30.62, Z:-14.23 [[ 9.21907527e-01 3.82124667e-01 6.37750046e-02 1.34061749e+02] [-3.80931102e-01 9.24103210e-01 -3.04097424e-02 -3.06225933e+01] [-7.05549992e-02 3.74108757e-03 9.97500875e-01 -1.42332687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.027719421 meters 0.06432296905454134 Centerline is valid? [True, True] Translation: X:134.10, Y:-30.62, Z:-14.24 [[ 9.19447813e-01 3.88034190e-01 6.36017803e-02 1.34097804e+02] [-3.86862000e-01 9.21639185e-01 -3.03150960e-02 -3.06173852e+01] [-7.03811866e-02 3.26803675e-03 9.97514816e-01 -1.42374811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.057719421 meters 0.0642919235554856 Centerline is valid? [True, True] Translation: X:134.13, Y:-30.62, Z:-14.24 [[ 9.18622179e-01 3.90280584e-01 6.17604937e-02 1.34125167e+02] [-3.89180232e-01 9.20691053e-01 -2.94403182e-02 -3.06224745e+01] [-6.83523185e-02 3.00856600e-03 9.97656709e-01 -1.42437739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.087719421 meters 0.0631735736862969 Centerline is valid? [True, True] Translation: X:134.16, Y:-30.62, Z:-14.25 [[ 9.17461249e-01 3.93167927e-01 6.06946204e-02 1.34156567e+02] [-3.92112153e-01 9.19462609e-01 -2.89235148e-02 -3.06231191e+01] [-6.71782324e-02 2.73710570e-03 9.97737237e-01 -1.42497908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.117719421 meters 0.06333135129852556 Centerline is valid? [True, True] Translation: X:134.18, Y:-30.63, Z:-14.25 [[ 9.17390336e-01 3.93159934e-01 6.18080684e-02 1.34184082e+02] [-3.92064914e-01 9.19465870e-01 -2.94553405e-02 -3.06323592e+01] [-6.84110691e-02 2.78926976e-03 9.97653319e-01 -1.42526199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.147719421 meters 0.06446070866579104 Centerline is valid? [True, True] Translation: X:134.21, Y:-30.64, Z:-14.25 [[ 9.18744956e-01 3.89761833e-01 6.31935101e-02 1.34211669e+02] [-3.88611090e-01 9.20910527e-01 -3.00868972e-02 -3.06400775e+01] [-6.99222929e-02 3.08448624e-03 9.97547672e-01 -1.42539476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.177719421 meters 0.06611295265007226 Centerline is valid? [True, True] Translation: X:134.24, Y:-30.65, Z:-14.26 [[ 9.19769365e-01 3.87427499e-01 6.26438181e-02 1.34238266e+02] [-3.86292450e-01 9.21894557e-01 -2.98088624e-02 -3.06526947e+01] [-6.92997680e-02 3.21844450e-03 9.97590690e-01 -1.42582896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.207719421 meters 0.06797206287117216 Centerline is valid? [True, True] Translation: X:134.27, Y:-30.66, Z:-14.26 [[ 9.21648334e-01 3.82902976e-01 6.28463196e-02 1.34267053e+02] [-3.81750399e-01 9.23781681e-01 -2.99004885e-02 -3.06628578e+01] [-6.95052648e-02 3.56612783e-03 9.97575211e-01 -1.42611411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.237719421 meters 0.06910260140373442 Centerline is valid? [True, True] Translation: X:134.29, Y:-30.67, Z:-14.26 [[ 9.22416268e-01 3.80808787e-01 6.42876060e-02 1.34292600e+02] [-3.79597283e-01 9.24645945e-01 -3.05905160e-02 -3.06726566e+01] [-7.10924115e-02 3.81378902e-03 9.97462442e-01 -1.42633103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.267719421 meters 0.07051514685647525 Centerline is valid? [True, True] Translation: X:134.32, Y:-30.68, Z:-14.27 [[ 9.22938018e-01 3.79479362e-01 6.46593271e-02 1.34319947e+02] [-3.78251182e-01 9.25191853e-01 -3.07583987e-02 -3.06791912e+01] [-7.14944602e-02 3.93062864e-03 9.97433252e-01 -1.42666662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29771942099998 meters 0.07051514685647525 Centerline is valid? [True, True] Translation: X:134.34, Y:-30.69, Z:-14.27 [[ 9.23061874e-01 3.79177577e-01 6.46617479e-02 1.34344795e+02] [-3.77949015e-01 9.25315501e-01 -3.07533108e-02 -3.06907163e+01] [-7.14934835e-02 3.94836473e-03 9.97433252e-01 -1.42694857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32771942099998 meters 0.06841044464654766 Centerline is valid? [True, True] Translation: X:134.37, Y:-30.70, Z:-14.27 [[ 9.23278900e-01 3.78651116e-01 6.46483169e-02 1.34374278e+02] [-3.77423711e-01 9.25530996e-01 -3.07199821e-02 -3.06961040e+01] [-7.14661766e-02 3.96330355e-03 9.97435150e-01 -1.42706561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35771942099998 meters 0.07149306158262857 Centerline is valid? [True, True] Translation: X:134.40, Y:-30.70, Z:-14.28 [[ 9.24343400e-01 3.75886189e-01 6.55656354e-02 1.34401356e+02] [-3.74618989e-01 9.26656284e-01 -3.11246667e-02 -3.07041594e+01] [-7.24561404e-02 4.20774819e-03 9.97362724e-01 -1.42753093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38771942099999 meters 0.07372464131138586 Centerline is valid? [True, True] Translation: X:134.43, Y:-30.71, Z:-14.28 [[ 9.25086572e-01 3.74072796e-01 6.54551631e-02 1.34427443e+02] [-3.72805961e-01 9.27389214e-01 -3.10638330e-02 -3.07145549e+01] [-7.23225471e-02 4.33465981e-03 9.97371876e-01 -1.42792098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.417719421 meters 0.0743854991787354 Centerline is valid? [True, True] Translation: X:134.46, Y:-30.72, Z:-14.28 [[ 9.26567333e-01 3.70326832e-01 6.58104489e-02 1.34458282e+02] [-3.69037403e-01 9.28889911e-01 -3.12238552e-02 -3.07192755e+01] [-7.26936934e-02 4.64448707e-03 9.97343499e-01 -1.42819139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.447719421 meters 0.0727072721498577 Centerline is valid? [True, True] Translation: X:134.49, Y:-30.72, Z:-14.28 [[ 9.27218652e-01 3.68514475e-01 6.68030922e-02 1.34487997e+02] [-3.67180588e-01 9.29609276e-01 -3.17018951e-02 -3.07244921e+01] [-7.37833814e-02 4.86578976e-03 9.97262421e-01 -1.42824942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.477719421 meters 0.07860129025149244 Centerline is valid? [True, True] Translation: X:134.51, Y:-30.73, Z:-14.29 [[ 9.27714404e-01 3.67220706e-01 6.70442988e-02 1.34513456e+02] [-3.65876084e-01 9.30120622e-01 -3.17855309e-02 -3.07345983e+01] [-7.40315900e-02 4.95798939e-03 9.97243572e-01 -1.42891478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.507719421 meters 0.07185736622295515 Centerline is valid? [True, True] Translation: X:134.55, Y:-30.73, Z:-14.29 [[ 9.27497658e-01 3.68027298e-01 6.56048978e-02 1.34548494e+02] [-3.66742019e-01 9.29802667e-01 -3.11013329e-02 -3.07269534e+01] [-7.24457484e-02 4.78634074e-03 9.97360870e-01 -1.42904144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.537719421 meters 0.07381085639998912 Centerline is valid? [True, True] Translation: X:134.57, Y:-30.74, Z:-14.30 [[ 9.27085527e-01 3.69044546e-01 6.57156717e-02 1.34573762e+02] [-3.67759689e-01 9.29399894e-01 -3.11231251e-02 -3.07374605e+01] [-7.25619579e-02 4.68622387e-03 9.97352897e-01 -1.42957503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.567719421 meters 0.072178752729809 Centerline is valid? [True, True] Translation: X:134.60, Y:-30.74, Z:-14.30 [[ 9.26857313e-01 3.69738016e-01 6.50332357e-02 1.34604430e+02] [-3.68481591e-01 9.29124754e-01 -3.07978809e-02 -3.07395534e+01] [-7.18111365e-02 4.58169091e-03 9.97407724e-01 -1.42988884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.597719421 meters 0.07157501941930068 Centerline is valid? [True, True] Translation: X:134.63, Y:-30.75, Z:-14.30 [[ 9.26720920e-01 3.69836180e-01 6.64043455e-02 1.34632239e+02] [-3.68528188e-01 9.29085354e-01 -3.14225926e-02 -3.07475441e+01] [-7.33165164e-02 4.64810073e-03 9.97297891e-01 -1.42998852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.627719421 meters 0.0706530754119144 Centerline is valid? [True, True] Translation: X:134.66, Y:-30.75, Z:-14.30 [[ 9.26538413e-01 3.69529164e-01 7.05320177e-02 1.34662558e+02] [-3.68054906e-01 9.29206036e-01 -3.33426021e-02 -3.07513700e+01] [-7.78598404e-02 4.93354652e-03 9.96952108e-01 -1.42977295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.657719421 meters 0.07056652190691812 Centerline is valid? [True, True] Translation: X:134.69, Y:-30.76, Z:-14.30 [[ 9.26830462e-01 3.68658384e-01 7.12480900e-02 1.34690916e+02] [-3.67151580e-01 9.29551200e-01 -3.36791459e-02 -3.07597580e+01] [-7.86448470e-02 5.05600956e-03 9.96889876e-01 -1.42989186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.687719421 meters 0.08248968364946369 Centerline is valid? [True, True] Translation: X:134.71, Y:-30.78, Z:-14.31 [[ 9.27807467e-01 3.66136782e-01 7.15343354e-02 1.34710569e+02] [-3.64612946e-01 9.30546174e-01 -3.37819264e-02 -3.07830885e+01] [-7.89348079e-02 5.26077880e-03 9.96865899e-01 -1.43080607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.717719421 meters 0.07591156965296948 Centerline is valid? [True, True] Translation: X:134.74, Y:-30.78, Z:-14.31 [[ 9.28769391e-01 3.63987060e-01 7.00059890e-02 1.34743728e+02] [-3.62522238e-01 9.31388811e-01 -3.30531265e-02 -3.07843270e+01] [-7.72337052e-02 5.32000439e-03 9.96998823e-01 -1.43084065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.747719421 meters 0.07844658572510961 Centerline is valid? [True, True] Translation: X:134.77, Y:-30.80, Z:-14.31 [[ 9.30500393e-01 3.59728558e-01 6.90245171e-02 1.34771106e+02] [-3.58292872e-01 9.33040226e-01 -3.25906971e-02 -3.07952073e+01] [-7.61264555e-02 5.59466396e-03 9.97082475e-01 -1.43137223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.777719421 meters 0.07897755740295084 Centerline is valid? [True, True] Translation: X:134.80, Y:-30.80, Z:-14.32 [[ 9.31937104e-01 3.56484902e-01 6.64209960e-02 1.34802044e+02] [-3.55147710e-01 9.34284092e-01 -3.13582313e-02 -3.07994108e+01] [-7.32348159e-02 5.63463462e-03 9.97298808e-01 -1.43177243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.807719421 meters 0.07957554862065244 Centerline is valid? [True, True] Translation: X:134.83, Y:-30.81, Z:-14.32 [[ 9.32439657e-01 3.55317930e-01 6.56159584e-02 1.34829992e+02] [-3.54010117e-01 9.34728393e-01 -3.09785172e-02 -3.08084698e+01] [-7.23403219e-02 5.65688482e-03 9.97363964e-01 -1.43213064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.837719421 meters 0.07975248588814698 Centerline is valid? [True, True] Translation: X:134.86, Y:-30.82, Z:-14.32 [[ 9.32695194e-01 3.54642609e-01 6.56375969e-02 1.34857555e+02] [-3.53332090e-01 9.34984479e-01 -3.09912678e-02 -3.08173898e+01] [-7.23609584e-02 5.71353716e-03 9.97362144e-01 -1.43246653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.867719421 meters 0.08422471746745096 Centerline is valid? [True, True] Translation: X:134.88, Y:-30.83, Z:-14.33 [[ 9.32551655e-01 3.54790969e-01 6.68638925e-02 1.34883049e+02] [-3.53433132e-01 9.34927746e-01 -3.15457043e-02 -3.08289365e+01] [-7.37050393e-02 5.78608377e-03 9.97263299e-01 -1.43292784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.897719421 meters 0.07951688108996201 Centerline is valid? [True, True] Translation: X:134.91, Y:-30.83, Z:-14.33 [[ 9.32237839e-01 3.55693866e-01 6.64415977e-02 1.34914598e+02] [-3.54357461e-01 9.34585429e-01 -3.13187908e-02 -3.08306673e+01] [-7.32352508e-02 5.65248599e-03 9.97298675e-01 -1.43300610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.927719421 meters 0.07995405749979227 Centerline is valid? [True, True] Translation: X:134.94, Y:-30.84, Z:-14.33 [[ 9.31251746e-01 3.58209782e-01 6.67528152e-02 1.34943884e+02] [-3.56868340e-01 9.33625125e-01 -3.14501749e-02 -3.08363670e+01] [-7.35878658e-02 5.46606391e-03 9.97273758e-01 -1.43349443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.957719421 meters 0.08298219088331522 Centerline is valid? [True, True] Translation: X:134.97, Y:-30.85, Z:-14.34 [[ 9.31016634e-01 3.58709036e-01 6.73487588e-02 1.34968172e+02] [-3.57344907e-01 9.33433375e-01 -3.17293686e-02 -3.08487912e+01] [-7.42471904e-02 5.47383396e-03 9.97224845e-01 -1.43406292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.987719421 meters 0.07547520434037928 Centerline is valid? [True, True] Translation: X:135.00, Y:-30.84, Z:-14.34 [[ 9.30776286e-01 3.59518389e-01 6.63478265e-02 1.35003131e+02] [-3.58196785e-01 9.33122799e-01 -3.12554716e-02 -3.08439860e+01] [-7.31475864e-02 5.32627360e-03 9.97306904e-01 -1.43398508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01771942099998 meters 0.07948262889165393 Centerline is valid? [True, True] Translation: X:135.03, Y:-30.86, Z:-14.35 [[ 9.30654439e-01 3.59882197e-01 6.60841910e-02 1.35026857e+02] [-3.58573554e-01 9.32982943e-01 -3.11100279e-02 -3.08588660e+01] [-7.28513682e-02 5.25664230e-03 9.97328956e-01 -1.43458871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04771942099998 meters 0.07844002825930489 Centerline is valid? [True, True] Translation: X:135.05, Y:-30.87, Z:-14.35 [[ 9.30482619e-01 3.60216564e-01 6.66792481e-02 1.35054857e+02] [-3.58886839e-01 9.32853906e-01 -3.13660223e-02 -3.08666769e+01] [-7.35005578e-02 5.25523396e-03 9.97281330e-01 -1.43480506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07771942099998 meters 0.07368866552848864 Centerline is valid? [True, True] Translation: X:135.09, Y:-30.87, Z:-14.35 [[ 9.29781185e-01 3.61896348e-01 6.73645414e-02 1.35088050e+02] [-3.60545733e-01 9.32204131e-01 -3.16580656e-02 -3.08667673e+01] [-7.42544420e-02 5.14707573e-03 9.97226045e-01 -1.43474677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10771942099998 meters 0.07339213298867159 Centerline is valid? [True, True] Translation: X:135.12, Y:-30.88, Z:-14.35 [[ 9.28774561e-01 3.64560716e-01 6.68827305e-02 1.35115477e+02] [-3.63236494e-01 9.31166751e-01 -3.14281801e-02 -3.08752596e+01] [-7.37364547e-02 4.89544557e-03 9.97265747e-01 -1.43519972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13771942099999 meters 0.07285643619613456 Centerline is valid? [True, True] Translation: X:135.14, Y:-30.89, Z:-14.36 [[ 9.28466007e-01 3.65367140e-01 6.67662075e-02 1.35142321e+02] [-3.64049260e-01 9.30850981e-01 -3.13781238e-02 -3.08851127e+01] [-7.36139251e-02 4.82733290e-03 9.97275131e-01 -1.43559681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.167719421 meters 0.07178753613332066 Centerline is valid? [True, True] Translation: X:135.17, Y:-30.89, Z:-14.36 [[ 9.27601574e-01 3.67345432e-01 6.79165142e-02 1.35171297e+02] [-3.65989307e-01 9.30072598e-01 -3.18871340e-02 -3.08923449e+01] [-7.48808818e-02 4.72183779e-03 9.97181306e-01 -1.43586850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.197719421 meters 0.06993859878215523 Centerline is valid? [True, True] Translation: X:135.20, Y:-30.90, Z:-14.36 [[ 9.27619704e-01 3.67283595e-01 6.80032812e-02 1.35200092e+02] [-3.65923511e-01 9.30096943e-01 -3.19321365e-02 -3.08994488e+01] [-7.49777939e-02 4.73687957e-03 9.97173953e-01 -1.43601121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.227719421 meters 0.06878487753505794 Centerline is valid? [True, True] Translation: X:135.23, Y:-30.91, Z:-14.36 [[ 9.27892923e-01 3.66783136e-01 6.69690619e-02 1.35228173e+02] [-3.65464615e-01 9.30294688e-01 -3.14230749e-02 -3.09076367e+01] [-7.38264165e-02 4.68242638e-03 9.97260114e-01 -1.43622007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.257719421 meters 0.07334278044895437 Centerline is valid? [True, True] Translation: X:135.25, Y:-30.92, Z:-14.37 [[ 9.28152050e-01 3.66055555e-01 6.73580146e-02 1.35250225e+02] [-3.64722001e-01 9.30580930e-01 -3.15752368e-02 -3.09238164e+01] [-7.42403746e-02 4.73967089e-03 9.97229112e-01 -1.43679034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.287719421 meters 0.07135218339651252 Centerline is valid? [True, True] Translation: X:135.28, Y:-30.93, Z:-14.37 [[ 9.28670859e-01 3.64561532e-01 6.83031879e-02 1.35279425e+02] [-3.63186653e-01 9.31166291e-01 -3.20123930e-02 -3.09295256e+01] [-7.52721131e-02 4.92217031e-03 9.97150882e-01 -1.43686181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.317719421 meters 0.07307947117851116 Centerline is valid? [True, True] Translation: X:135.30, Y:-30.94, Z:-14.37 [[ 9.28819812e-01 3.64182150e-01 6.83016680e-02 1.35303246e+02] [-3.62808576e-01 9.31314720e-01 -3.19817030e-02 -3.09434308e+01] [-7.52575142e-02 4.92480844e-03 9.97151971e-01 -1.43728442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.347719421 meters 0.07336206975857379 Centerline is valid? [True, True] Translation: X:135.33, Y:-30.95, Z:-14.37 [[ 9.28439912e-01 3.64640954e-01 7.09669287e-02 1.35328513e+02] [-3.63159956e-01 9.31134396e-01 -3.32202230e-02 -3.09549234e+01] [-7.81932021e-02 5.07063418e-03 9.96925329e-01 -1.43744551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.377719421 meters 0.07077963707704249 Centerline is valid? [True, True] Translation: X:135.36, Y:-30.96, Z:-14.37 [[ 9.28763168e-01 3.63701346e-01 7.15563250e-02 1.35357841e+02] [-3.62193131e-01 9.31501156e-01 -3.34922880e-02 -3.09612097e+01] [-7.88359897e-02 5.18919419e-03 9.96874094e-01 -1.43741845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.407719421 meters 0.07171963761393446 Centerline is valid? [True, True] Translation: X:135.38, Y:-30.97, Z:-14.38 [[ 9.28720242e-01 3.63558201e-01 7.28295733e-02 1.35384784e+02] [-3.61997786e-01 9.31556605e-01 -3.40572127e-02 -3.09698423e+01] [-8.02266491e-02 5.26547851e-03 9.96762740e-01 -1.43750562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.437719421 meters 0.07043721196605648 Centerline is valid? [True, True] Translation: X:135.41, Y:-30.98, Z:-14.38 [[ 9.28864723e-01 3.63287299e-01 7.23371670e-02 1.35412537e+02] [-3.61747482e-01 9.31662379e-01 -3.38226456e-02 -3.09781729e+01] [-7.96811547e-02 5.24887427e-03 9.96806583e-01 -1.43771906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.467719421 meters 0.07107925251106094 Centerline is valid? [True, True] Translation: X:135.44, Y:-30.99, Z:-14.38 [[ 9.29235069e-01 3.62426867e-01 7.18954319e-02 1.35437940e+02] [-3.60905670e-01 9.31997360e-01 -3.35859794e-02 -3.09897017e+01] [-7.91788140e-02 5.26180094e-03 9.96846542e-01 -1.43818984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.497719421 meters 0.07308639394903439 Centerline is valid? [True, True] Translation: X:135.46, Y:-31.00, Z:-14.39 [[ 9.29778746e-01 3.61181009e-01 7.11320011e-02 1.35461850e+02] [-3.59689127e-01 9.32480654e-01 -3.32198980e-02 -3.10040840e+01] [-7.83276112e-02 5.30174777e-03 9.96913575e-01 -1.43876027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.527719421 meters 0.07372424140137095 Centerline is valid? [True, True] Translation: X:135.49, Y:-31.02, Z:-14.39 [[ 9.30817200e-01 3.58842444e-01 6.93645560e-02 1.35489254e+02] [-3.57418153e-01 9.33382799e-01 -3.23854196e-02 -3.10163284e+01] [-7.63649466e-02 5.35275410e-03 9.97065566e-01 -1.43932175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.557719421 meters 0.07381487029699804 Centerline is valid? [True, True] Translation: X:135.52, Y:-31.03, Z:-14.40 [[ 9.31476416e-01 3.57139920e-01 6.93019739e-02 1.35516015e+02] [-3.55713398e-01 9.34034769e-01 -3.23578332e-02 -3.10275252e+01] [-7.62867271e-02 5.48891783e-03 9.97070813e-01 -1.43967693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.587719421 meters 0.07926002584568122 Centerline is valid? [True, True] Translation: X:135.54, Y:-31.04, Z:-14.40 [[ 9.32464971e-01 3.54690419e-01 6.85841381e-02 1.35540569e+02] [-3.53287241e-01 9.34966884e-01 -3.20164188e-02 -3.10434739e+01] [-7.54798149e-02 5.62428811e-03 9.97131468e-01 -1.44020799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.617719421 meters 0.07587450344199985 Centerline is valid? [True, True] Translation: X:135.57, Y:-31.05, Z:-14.40 [[ 9.32475606e-01 3.54932494e-01 6.71726785e-02 1.35570737e+02] [-3.53586640e-01 9.34875779e-01 -3.13650484e-02 -3.10450737e+01] [-7.39305850e-02 5.49578075e-03 9.97248246e-01 -1.44045862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.647719421 meters 0.07604857816311758 Centerline is valid? [True, True] Translation: X:135.60, Y:-31.06, Z:-14.41 [[ 9.32209482e-01 3.55850786e-01 6.59977192e-02 1.35595902e+02] [-3.54556255e-01 9.34527767e-01 -3.07849733e-02 -3.10552047e+01] [-7.26315582e-02 5.29813988e-03 9.97344768e-01 -1.44086230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.677719421 meters 0.07332045815950347 Centerline is valid? [True, True] Translation: X:135.63, Y:-31.06, Z:-14.41 [[ 9.30646466e-01 3.59724914e-01 6.70458130e-02 1.35627122e+02] [-3.58400096e-01 9.33044685e-01 -3.12567922e-02 -3.10601025e+01] [-7.38005863e-02 5.05979742e-03 9.97260183e-01 -1.44113651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.707719421 meters 0.07102919217397291 Centerline is valid? [True, True] Translation: X:135.66, Y:-31.07, Z:-14.41 [[ 9.29629588e-01 3.62337257e-01 6.70860692e-02 1.35656972e+02] [-3.61017542e-01 9.32034404e-01 -3.12762506e-02 -3.10660893e+01] [-7.38590754e-02 4.85608015e-03 9.97256865e-01 -1.44132619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.737719421 meters 0.06980359452241519 Centerline is valid? [True, True] Translation: X:135.69, Y:-31.07, Z:-14.42 [[ 9.28726169e-01 3.64708279e-01 6.67500879e-02 1.35686300e+02] [-3.63408146e-01 9.31110272e-01 -3.11156049e-02 -3.10740719e+01] [-7.34998112e-02 4.64035089e-03 9.97284435e-01 -1.44165481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76771942099998 meters 0.06708608688096833 Centerline is valid? [True, True] Translation: X:135.72, Y:-31.08, Z:-14.42 [[ 9.26271102e-01 3.71118137e-01 6.55223128e-02 1.35715821e+02] [-3.69881411e-01 9.28576805e-01 -3.05427406e-02 -3.10774209e+01] [-7.21774648e-02 4.05537245e-03 9.97383561e-01 -1.44206575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79771942099998 meters 0.06513066038965072 Centerline is valid? [True, True] Translation: X:135.75, Y:-31.09, Z:-14.42 [[ 9.24558609e-01 3.75322056e-01 6.57627001e-02 1.35745110e+02] [-3.74087175e-01 9.26886937e-01 -3.06494874e-02 -3.10851830e+01] [-7.24580163e-02 3.73626475e-03 9.97364465e-01 -1.44235917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82771942099998 meters 0.0597291682972234 Centerline is valid? [True, True] Translation: X:135.78, Y:-31.08, Z:-14.42 [[ 9.20670464e-01 3.84516361e-01 6.71793408e-02 1.35779271e+02] [-3.83251950e-01 9.23113043e-01 -3.13089980e-02 -3.10842904e+01] [-7.40529477e-02 3.07865644e-03 9.97249559e-01 -1.44225925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85771942099998 meters 0.05835779212552348 Centerline is valid? [True, True] Translation: X:135.81, Y:-31.09, Z:-14.43 [[ 9.18605252e-01 3.89188833e-01 6.85305996e-02 1.35807409e+02] [-3.87886243e-01 9.21153882e-01 -3.19341173e-02 -3.10922364e+01] [-7.55556297e-02 2.75277104e-03 9.97137788e-01 -1.44251819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88771942099999 meters 0.05665260815138796 Centerline is valid? [True, True] Translation: X:135.84, Y:-31.10, Z:-14.43 [[ 9.16495454e-01 3.94142421e-01 6.84677670e-02 1.35836843e+02] [-3.92856050e-01 9.19046391e-01 -3.19038553e-02 -3.11001345e+01] [-7.54997169e-02 2.34176187e-03 9.97143073e-01 -1.44279575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.917719421 meters 0.0542240493339502 Centerline is valid? [True, True] Translation: X:135.87, Y:-31.10, Z:-14.43 [[ 9.12945835e-01 4.02264574e-01 6.86521299e-02 1.35868304e+02] [-4.00995190e-01 9.15521954e-01 -3.19751307e-02 -3.11027547e+01] [-7.57149944e-02 1.66238848e-03 9.97128114e-01 -1.44288247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.947719421 meters 0.053814918877609655 Centerline is valid? [True, True] Translation: X:135.89, Y:-31.11, Z:-14.43 [[ 9.11462948e-01 4.05492314e-01 6.93633803e-02 1.35894802e+02] [-4.04205937e-01 9.14097371e-01 -3.23041285e-02 -3.11118865e+01] [-7.65039594e-02 1.40692607e-03 9.97068285e-01 -1.44314589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.977719421 meters 0.05270115983198689 Centerline is valid? [True, True] Translation: X:135.92, Y:-31.12, Z:-14.43 [[ 9.08798914e-01 4.11269562e-01 7.02985175e-02 1.35923219e+02] [-4.09966176e-01 9.11513298e-01 -3.27298484e-02 -3.11196311e+01] [-7.75388239e-02 9.24836268e-04 9.96988904e-01 -1.44317075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.007719421 meters 0.05235719600561694 Centerline is valid? [True, True] Translation: X:135.95, Y:-31.13, Z:-14.43 [[ 9.06569268e-01 4.15949884e-01 7.15391871e-02 1.35948309e+02] [-4.14615101e-01 9.09387385e-01 -3.33001978e-02 -3.11303966e+01] [-7.89080477e-02 5.27708649e-04 9.96881759e-01 -1.44346650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.037719421 meters 0.05225399496975889 Centerline is valid? [True, True] Translation: X:135.97, Y:-31.14, Z:-14.44 [[ 9.05744545e-01 4.17661868e-01 7.20096023e-02 1.35973156e+02] [-4.16315607e-01 9.08602457e-01 -3.35095567e-02 -3.11416612e+01] [-7.94237657e-02 3.72376934e-04 9.96840873e-01 -1.44369389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.067719421 meters 0.05235227488633702 Centerline is valid? [True, True] Translation: X:136.00, Y:-31.15, Z:-14.44 [[ 9.03572931e-01 4.22272196e-01 7.24026942e-02 1.35999683e+02] [-4.20926683e-01 9.06469079e-01 -3.36828791e-02 -3.11509100e+01] [-7.98541468e-02 -4.12881778e-05 9.96806558e-01 -1.44386176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.097719421 meters 0.05269545971089162 Centerline is valid? [True, True] Translation: X:136.03, Y:-31.16, Z:-14.44 [[ 9.02125723e-01 4.25340073e-01 7.24913867e-02 1.36026029e+02] [-4.24001423e-01 9.05033547e-01 -3.37204899e-02 -3.11608797e+01] [-7.99498125e-02 -3.16329745e-04 9.96798840e-01 -1.44411054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.127719421 meters 0.053452845191081795 Centerline is valid? [True, True] Translation: X:136.05, Y:-31.17, Z:-14.44 [[ 8.99900873e-01 4.30149690e-01 7.17611514e-02 1.36050697e+02] [-4.28855815e-01 9.02757253e-01 -3.33471416e-02 -3.11732941e+01] [-7.91271625e-02 -7.66065234e-04 9.96864236e-01 -1.44444073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.157719421 meters 0.05382468733158907 Centerline is valid? [True, True] Translation: X:136.08, Y:-31.19, Z:-14.45 [[ 8.99127236e-01 4.31850886e-01 7.12392181e-02 1.36075461e+02] [-4.30581885e-01 9.01944549e-01 -3.30948745e-02 -3.11879406e+01] [-7.85458753e-02 -9.17813780e-04 9.96910078e-01 -1.44483840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.187719421 meters 0.054512525993363495 Centerline is valid? [True, True] Translation: X:136.10, Y:-31.21, Z:-14.45 [[ 8.97944873e-01 4.34362462e-01 7.08819837e-02 1.36097777e+02] [-4.33115975e-01 9.00737430e-01 -3.29034008e-02 -3.12062013e+01] [-7.81380580e-02 -1.15467947e-03 9.96941879e-01 -1.44536881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.217719421 meters 0.054512525993363495 Centerline is valid? [True, True] Translation: X:136.12, Y:-31.22, Z:-14.46 [[ 8.98093774e-01 4.34052987e-01 7.08913053e-02 1.36122606e+02] [-4.32807124e-01 9.00886609e-01 -3.28833026e-02 -3.12174417e+01] [-7.81381234e-02 -1.14997259e-03 9.96941880e-01 -1.44565021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.247719421 meters 0.05476939002665132 Centerline is valid? [True, True] Translation: X:136.15, Y:-31.23, Z:-14.46 [[ 8.97754728e-01 4.34936103e-01 6.97641414e-02 1.36147298e+02] [-4.33734550e-01 9.00460473e-01 -3.23307421e-02 -3.12321947e+01] [-7.68816587e-02 -1.23404192e-03 9.97039461e-01 -1.44599396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.277719421 meters 0.055161752059703945 Centerline is valid? [True, True] Translation: X:136.17, Y:-31.25, Z:-14.46 [[ 8.97510527e-01 4.35590057e-01 6.88197365e-02 1.36172043e+02] [-4.34424662e-01 9.00144225e-01 -3.18682933e-02 -3.12464558e+01] [-7.58292000e-02 -1.29486204e-03 9.97119981e-01 -1.44634001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.307719421 meters 0.05604079913765545 Centerline is valid? [True, True] Translation: X:136.20, Y:-31.27, Z:-14.47 [[ 8.96637930e-01 4.37767632e-01 6.63319223e-02 1.36195488e+02] [-4.36693315e-01 8.99086975e-01 -3.06848588e-02 -3.12658415e+01] [-7.30710053e-02 -1.45349876e-03 9.97325682e-01 -1.44674503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.337719421 meters 0.05696251980945273 Centerline is valid? [True, True] Translation: X:136.22, Y:-31.29, Z:-14.47 [[ 8.96040046e-01 4.39344527e-01 6.39423314e-02 1.36216289e+02] [-4.38350431e-01 8.98317348e-01 -2.95777461e-02 -3.12872359e+01] [-7.04353264e-02 -1.52630349e-03 9.97515180e-01 -1.44743687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.367719421 meters 0.05737338094851766 Centerline is valid? [True, True] Translation: X:136.24, Y:-31.30, Z:-14.48 [[ 8.95799935e-01 4.39899082e-01 6.34923233e-02 1.36240459e+02] [-4.38920254e-01 8.98045863e-01 -2.93707135e-02 -3.13036109e+01] [-6.99391681e-02 -1.55778347e-03 9.97550042e-01 -1.44782223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.397719421 meters 0.05716270594403669 Centerline is valid? [True, True] Translation: X:136.26, Y:-31.32, Z:-14.48 [[ 8.95822963e-01 4.39846520e-01 6.35315577e-02 1.36263612e+02] [-4.38867844e-01 8.98071580e-01 -2.93675536e-02 -3.13204482e+01] [-6.99731027e-02 -1.57382887e-03 9.97547637e-01 -1.44806816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.427719421 meters 0.0567431515823466 Centerline is valid? [True, True] Translation: X:136.28, Y:-31.34, Z:-14.48 [[ 8.96407261e-01 4.38517335e-01 6.44714676e-02 1.36284093e+02] [-4.37508120e-01 8.98721448e-01 -2.97725225e-02 -3.13437578e+01] [-7.09976580e-02 -1.51848525e-03 9.97475326e-01 -1.44827777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.457719421 meters 0.0567821003506917 Centerline is valid? [True, True] Translation: X:136.31, Y:-31.36, Z:-14.49 [[ 8.96621898e-01 4.38091845e-01 6.43793970e-02 1.36305445e+02] [-4.37086270e-01 8.98928955e-01 -2.97039723e-02 -3.13614440e+01] [-7.08855721e-02 -1.50611844e-03 9.97483317e-01 -1.44860756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.487719421 meters 0.0560125504670615 Centerline is valid? [True, True] Translation: X:136.32, Y:-31.39, Z:-14.49 [[ 8.97807869e-01 4.35543911e-01 6.51347226e-02 1.36324048e+02] [-4.34509087e-01 9.00166495e-01 -3.00355725e-02 -3.13882880e+01] [-7.17139057e-02 -1.33545551e-03 9.97424349e-01 -1.44882517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51771942099998 meters 0.055139787281553804 Centerline is valid? [True, True] Translation: X:136.35, Y:-31.41, Z:-14.49 [[ 8.98608898e-01 4.33696397e-01 6.64039427e-02 1.36346179e+02] [-4.32617554e-01 9.01058219e-01 -3.05963695e-02 -3.14084748e+01] [-7.31033536e-02 -1.23334139e-03 9.97323608e-01 -1.44886806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54771942099998 meters 0.054377674138474746 Centerline is valid? [True, True] Translation: X:136.36, Y:-31.44, Z:-14.49 [[ 9.00608865e-01 4.29369800e-01 6.74184520e-02 1.36363977e+02] [-4.28247885e-01 9.03128298e-01 -3.10326724e-02 -3.14355491e+01] [-7.42120041e-02 -9.23509600e-04 9.97242060e-01 -1.44913325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57771942099998 meters 0.052835028835736514 Centerline is valid? [True, True] Translation: X:136.38, Y:-31.47, Z:-14.49 [[ 9.03296441e-01 4.23377825e-01 6.93307856e-02 1.36381000e+02] [-4.22173935e-01 9.05953099e-01 -3.19084699e-02 -3.14684867e+01] [-7.63197787e-02 -4.46843311e-04 9.97083292e-01 -1.44917215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60771942099998 meters 0.05276252321271014 Centerline is valid? [True, True] Translation: X:136.40, Y:-31.49, Z:-14.50 [[ 9.05035657e-01 4.19504854e-01 7.01864492e-02 1.36400832e+02] [-4.18261566e-01 9.07753081e-01 -3.22739366e-02 -3.14907004e+01] [-7.72510386e-02 -1.47230714e-04 9.97011663e-01 -1.44978868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63771942099999 meters 0.05224550180554586 Centerline is valid? [True, True] Translation: X:136.42, Y:-31.51, Z:-14.50 [[ 9.07566510e-01 4.13990871e-01 7.02466201e-02 1.36421048e+02] [-4.12729082e-01 9.10280976e-01 -3.22993686e-02 -3.15141891e+01] [-7.73158057e-02 3.21002206e-04 9.97006601e-01 -1.44954997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.667719421 meters 0.05408055302088183 Centerline is valid? [True, True] Translation: X:136.44, Y:-31.55, Z:-14.50 [[ 9.12765504e-01 4.02664710e-01 6.87041961e-02 1.36436707e+02] [-4.01428328e-01 9.15346731e-01 -3.15540652e-02 -3.15476832e+01] [-7.55938699e-02 1.22165161e-03 9.97137942e-01 -1.45014896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.697719421 meters 0.05511201449579504 Centerline is valid? [True, True] Translation: X:136.46, Y:-31.57, Z:-14.50 [[ 9.15071014e-01 3.97620519e-01 6.74015041e-02 1.36460268e+02] [-3.96417380e-01 9.17548557e-01 -3.09500524e-02 -3.15678148e+01] [-7.41505287e-02 1.60236814e-03 9.97245773e-01 -1.45038423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.727719421 meters 0.05835462013506666 Centerline is valid? [True, True] Translation: X:136.48, Y:-31.60, Z:-14.51 [[ 9.18798213e-01 3.89411042e-01 6.45668952e-02 1.36477722e+02] [-3.88286983e-01 9.21061528e-01 -2.96459054e-02 -3.15972103e+01] [-7.10145261e-02 2.16812003e-03 9.97472925e-01 -1.45101873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.757719421 meters 0.06002952564391767 Centerline is valid? [True, True] Translation: X:136.50, Y:-31.62, Z:-14.51 [[ 9.20472683e-01 3.85626825e-01 6.34191818e-02 1.36501197e+02] [-3.84533814e-01 9.22651688e-01 -2.91137371e-02 -3.16169831e+01] [-6.97408531e-02 2.41157986e-03 9.97562227e-01 -1.45146453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.787719421 meters 0.06235452151681028 Centerline is valid? [True, True] Translation: X:136.52, Y:-31.64, Z:-14.52 [[ 9.22326466e-01 3.81255538e-01 6.29134695e-02 1.36522656e+02] [-3.80169988e-01 9.24465700e-01 -2.88781773e-02 -3.16391044e+01] [-6.91713097e-02 2.71729431e-03 9.97601096e-01 -1.45173891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.817719421 meters 0.06198516864285128 Centerline is valid? [True, True] Translation: X:136.55, Y:-31.65, Z:-14.52 [[ 9.22313902e-01 3.81055526e-01 6.42942602e-02 1.36549070e+02] [-3.79920865e-01 9.24547922e-01 -2.95173888e-02 -3.16520838e+01] [-7.06908888e-02 2.79756713e-03 9.97494347e-01 -1.45179797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.847719421 meters 0.06072907905248761 Centerline is valid? [True, True] Translation: X:136.58, Y:-31.66, Z:-14.52 [[ 9.20459494e-01 3.85274556e-01 6.57102482e-02 1.36575595e+02] [-3.84102164e-01 9.22798603e-01 -3.01374459e-02 -3.16633819e+01] [-7.22485163e-02 2.50084970e-03 9.97383526e-01 -1.45196490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.877719421 meters 0.05833525821450373 Centerline is valid? [True, True] Translation: X:136.60, Y:-31.67, Z:-14.52 [[ 9.19017253e-01 3.88822976e-01 6.49921719e-02 1.36604617e+02] [-3.87685062e-01 9.21309867e-01 -2.98064030e-02 -3.16699883e+01] [-7.14673436e-02 2.19610439e-03 9.97440523e-01 -1.45201879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.907719421 meters 0.055719393408941824 Centerline is valid? [True, True] Translation: X:136.63, Y:-31.67, Z:-14.52 [[ 9.14310114e-01 3.99461077e-01 6.68420810e-02 1.36634284e+02] [-3.98286213e-01 9.16749090e-01 -3.06463437e-02 -3.16733608e+01] [-7.35194384e-02 1.39798265e-03 9.97292804e-01 -1.45236894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.937719421 meters 0.054217815431644285 Centerline is valid? [True, True] Translation: X:136.66, Y:-31.68, Z:-14.53 [[ 9.11570605e-01 4.05541091e-01 6.76421137e-02 1.36663408e+02] [-4.04354760e-01 9.14076355e-01 -3.10104061e-02 -3.16791225e+01] [-7.44060507e-02 9.16764067e-04 9.97227607e-01 -1.45258263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.967719421 meters 0.0529770617573548 Centerline is valid? [True, True] Translation: X:136.69, Y:-31.68, Z:-14.53 [[ 9.08660720e-01 4.11978878e-01 6.78903547e-02 1.36693182e+02] [-4.10801675e-01 9.11193311e-01 -3.11244870e-02 -3.16841385e+01] [-7.46838683e-02 3.92127386e-04 9.97207183e-01 -1.45255990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.997719421 meters 0.053715346862915785 Centerline is valid? [True, True] Translation: X:136.72, Y:-31.68, Z:-14.53 [[ 9.03495371e-01 4.23230749e-01 6.76154423e-02 1.36722866e+02] [-4.22096545e-01 9.06021754e-01 -3.09691375e-02 -3.16841430e+01] [-7.43681529e-02 -5.59772148e-04 9.97230698e-01 -1.45329100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.027719421 meters 0.0549058121747399 Centerline is valid? [True, True] Translation: X:136.75, Y:-31.69, Z:-14.54 [[ 9.00372852e-01 4.30330475e-01 6.43770823e-02 1.36751724e+02] [-4.29321554e-01 9.02670740e-01 -2.94709849e-02 -3.16906156e+01] [-7.07935714e-02 -1.10359430e-03 9.97490377e-01 -1.45352030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.057719421 meters 0.057032533996978406 Centerline is valid? [True, True] Translation: X:136.78, Y:-31.70, Z:-14.55 [[ 8.99805600e-01 4.31712155e-01 6.30436094e-02 1.36777683e+02] [-4.30748264e-01 9.02010642e-01 -2.88571422e-02 -3.16976802e+01] [-6.93239856e-02 -1.19010710e-03 9.97593489e-01 -1.45464550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.087719421 meters 0.057058769301747095 Centerline is valid? [True, True] Translation: X:136.80, Y:-31.71, Z:-14.55 [[ 8.99856114e-01 4.31741156e-01 6.21172150e-02 1.36802822e+02] [-4.30805607e-01 9.01996780e-01 -2.84312957e-02 -3.17121075e+01] [-6.83044884e-02 -1.17636917e-03 9.97663828e-01 -1.45492908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.117719421 meters 0.05572014610295639 Centerline is valid? [True, True] Translation: X:136.82, Y:-31.73, Z:-14.55 [[ 9.01456996e-01 4.28616016e-01 6.05276364e-02 1.36824602e+02] [-4.27722005e-01 9.03486271e-01 -2.76847342e-02 -3.17349259e+01] [-6.65520089e-02 -9.32404716e-04 9.97782522e-01 -1.45489129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.147719421 meters 0.05547461000072302 Centerline is valid? [True, True] Translation: X:136.85, Y:-31.75, Z:-14.55 [[ 9.02581912e-01 4.26245566e-01 6.05029649e-02 1.36847611e+02] [-4.25348893e-01 9.04607154e-01 -2.76444593e-02 -3.17514158e+01] [-6.65147431e-02 -7.83480163e-04 9.97785135e-01 -1.45524572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.177719421 meters 0.054788575698269434 Centerline is valid? [True, True] Translation: X:136.87, Y:-31.77, Z:-14.55 [[ 9.04614260e-01 4.21376488e-01 6.41474625e-02 1.36869259e+02] [-4.20357445e-01 9.06885680e-01 -2.92913273e-02 -3.17722919e+01] [-7.05170917e-02 -4.67511053e-04 9.97510462e-01 -1.45545525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.207719421 meters 0.05424362471253464 Centerline is valid? [True, True] Translation: X:136.89, Y:-31.79, Z:-14.55 [[ 9.06204403e-01 4.17873158e-01 6.46189119e-02 1.36892916e+02] [-4.16829747e-01 9.08505359e-01 -2.95122806e-02 -3.17910274e+01] [-7.10390177e-02 -1.90926074e-04 9.97473519e-01 -1.45530716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.237719421 meters 0.05445669077034978 Centerline is valid? [True, True] Translation: X:136.92, Y:-31.81, Z:-14.56 [[ 9.06759159e-01 4.16864007e-01 6.33421479e-02 1.36917426e+02] [-4.15860619e-01 9.08968857e-01 -2.89061039e-02 -3.18055830e+01] [-6.96259540e-02 -1.30630347e-04 9.97573160e-01 -1.45570186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26771942099998 meters 0.05520112184524618 Centerline is valid? [True, True] Translation: X:136.94, Y:-31.83, Z:-14.57 [[ 9.08114192e-01 4.14509605e-01 5.92486323e-02 1.36938456e+02] [-4.13628766e-01 9.10044937e-01 -2.70084639e-02 -3.18253399e+01] [-6.51141856e-02 1.98306489e-05 9.97877819e-01 -1.45653462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29771942099998 meters 0.05529783093746412 Centerline is valid? [True, True] Translation: X:136.96, Y:-31.84, Z:-14.57 [[ 9.08790409e-01 4.12967654e-01 5.96465389e-02 1.36961731e+02] [-4.12071985e-01 9.10745684e-01 -2.71841649e-02 -3.18408648e+01] [-6.55490087e-02 1.26040675e-04 9.97849343e-01 -1.45700669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32771942099998 meters 0.055852346712346825 Centerline is valid? [True, True] Translation: X:136.99, Y:-31.86, Z:-14.57 [[ 9.10032443e-01 4.10558396e-01 5.72953402e-02 1.36986078e+02] [-4.09727728e-01 9.11834264e-01 -2.61048567e-02 -3.18569991e+01] [-6.29614224e-02 2.80776912e-04 9.98015922e-01 -1.45738399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35771942099998 meters 0.05617939736556404 Centerline is valid? [True, True] Translation: X:137.01, Y:-31.87, Z:-14.58 [[ 9.10489558e-01 4.09919268e-01 5.45431816e-02 1.37011815e+02] [-4.09165861e-01 9.12121759e-01 -2.48434253e-02 -3.18707899e+01] [-5.99338215e-02 3.02471459e-04 9.98202307e-01 -1.45780084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38771942099999 meters 0.056560072580087176 Centerline is valid? [True, True] Translation: X:137.04, Y:-31.89, Z:-14.58 [[ 9.10738548e-01 4.09544974e-01 5.31809378e-02 1.37035397e+02] [-4.08827528e-01 9.12289870e-01 -2.42331577e-02 -3.18871660e+01] [-5.84409987e-02 3.28239518e-04 9.98290810e-01 -1.45821645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.417719421 meters 0.05684401725493212 Centerline is valid? [True, True] Translation: X:137.06, Y:-31.90, Z:-14.59 [[ 9.10929913e-01 4.09056811e-01 5.36583483e-02 1.37059207e+02] [-4.08327348e-01 9.12508857e-01 -2.44205566e-02 -3.19017670e+01] [-5.89531130e-02 3.35244455e-04 9.98260696e-01 -1.45863929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.447719421 meters 0.05637771406399443 Centerline is valid? [True, True] Translation: X:137.08, Y:-31.92, Z:-14.58 [[ 9.11953189e-01 4.06580104e-01 5.50817629e-02 1.37082365e+02] [-4.05806759e-01 9.13614995e-01 -2.50702190e-02 -3.19204853e+01] [-6.05165768e-02 5.10314513e-04 9.98167062e-01 -1.45839511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.477719421 meters 0.05664314763329683 Centerline is valid? [True, True] Translation: X:137.11, Y:-31.94, Z:-14.59 [[ 9.12430129e-01 4.05244727e-01 5.69909786e-02 1.37105902e+02] [-4.04416198e-01 9.14208052e-01 -2.59070680e-02 -3.19362419e+01] [-6.26003142e-02 5.90314508e-04 9.98038502e-01 -1.45868073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.507719421 meters 0.056466313372941855 Centerline is valid? [True, True] Translation: X:137.13, Y:-31.95, Z:-14.59 [[ 9.13509441e-01 4.02809415e-01 5.69655717e-02 1.37130397e+02] [-4.01976804e-01 9.15283563e-01 -2.58968943e-02 -3.19523263e+01] [-6.25711643e-02 7.58218961e-04 9.98040217e-01 -1.45854146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.537719421 meters 0.056745198635803365 Centerline is valid? [True, True] Translation: X:137.15, Y:-31.96, Z:-14.59 [[ 9.13074832e-01 4.03674221e-01 5.78054853e-02 1.37154473e+02] [-4.02820596e-01 9.14902541e-01 -2.62470442e-02 -3.19649599e+01] [-6.34816405e-02 6.80275489e-04 9.97982775e-01 -1.45904224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.567719421 meters 0.05625845761051462 Centerline is valid? [True, True] Translation: X:137.18, Y:-31.98, Z:-14.59 [[ 9.12081275e-01 4.05586775e-01 6.00592708e-02 1.37181596e+02] [-4.04669837e-01 9.14056373e-01 -2.72629994e-02 -3.19764355e+01] [-6.59550712e-02 5.61895980e-04 9.97822436e-01 -1.45916437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.597719421 meters 0.05540577554164536 Centerline is valid? [True, True] Translation: X:137.21, Y:-31.98, Z:-14.59 [[ 9.08994591e-01 4.12067584e-01 6.26828463e-02 1.37209870e+02] [-4.11084969e-01 9.11153280e-01 -2.84402833e-02 -3.19849093e+01] [-6.88329998e-02 8.40877246e-05 9.97628193e-01 -1.45904548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.627719421 meters 0.05624370256316233 Centerline is valid? [True, True] Translation: X:137.24, Y:-31.99, Z:-14.60 [[ 9.05050287e-01 4.20743645e-01 6.21189420e-02 1.37238717e+02] [-4.19799222e-01 9.07179397e-01 -2.81807632e-02 -3.19878269e+01] [-6.82099014e-02 -5.72475694e-04 9.97670828e-01 -1.45954444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.657719421 meters 0.05724599076997584 Centerline is valid? [True, True] Translation: X:137.27, Y:-31.99, Z:-14.60 [[ 9.03132165e-01 4.24828832e-01 6.22314741e-02 1.37265967e+02] [-4.23891647e-01 9.05273252e-01 -2.82171946e-02 -3.19936112e+01] [-6.83239668e-02 -8.95546040e-04 9.97662785e-01 -1.45988344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.687719421 meters 0.05923568049902663 Centerline is valid? [True, True] Translation: X:137.30, Y:-32.00, Z:-14.60 [[ 8.99321958e-01 4.33050619e-01 6.07221279e-02 1.37296428e+02] [-4.32177683e-01 9.01368370e-01 -2.75229264e-02 -3.19987448e+01] [-6.66518258e-02 -1.49077648e-03 9.97775181e-01 -1.46015833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.717719421 meters 0.060654906425723666 Centerline is valid? [True, True] Translation: X:137.32, Y:-32.01, Z:-14.61 [[ 8.98021726e-01 4.35995161e-01 5.88659443e-02 1.37323173e+02] [-4.35181254e-01 8.99947482e-01 -2.66797078e-02 -3.20089782e+01] [-6.46084818e-02 -1.65839821e-03 9.97909311e-01 -1.46069443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.747719421 meters 0.06055681937585483 Centerline is valid? [True, True] Translation: X:137.35, Y:-32.02, Z:-14.61 [[ 8.97403780e-01 4.37388791e-01 5.79439520e-02 1.37348140e+02] [-4.36602689e-01 8.99270854e-01 -2.62682887e-02 -3.20229520e+01] [-6.35967623e-02 -1.72522368e-03 9.97974186e-01 -1.46088620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.777719421 meters 0.06177908393921368 Centerline is valid? [True, True] Translation: X:137.37, Y:-32.03, Z:-14.61 [[ 8.96968033e-01 4.38272191e-01 5.80158129e-02 1.37373030e+02] [-4.37487998e-01 8.98840464e-01 -2.62692310e-02 -3.20343364e+01] [-6.36600336e-02 -1.81856143e-03 9.97969986e-01 -1.46142468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.807719421 meters 0.06123427825792309 Centerline is valid? [True, True] Translation: X:137.40, Y:-32.05, Z:-14.61 [[ 8.96852667e-01 4.38367335e-01 5.90709125e-02 1.37398337e+02] [-4.37554536e-01 8.98793984e-01 -2.67470073e-02 -3.20482489e+01] [-6.48175951e-02 -1.85862088e-03 9.97895398e-01 -1.46141758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.837719421 meters 0.06362848365754507 Centerline is valid? [True, True] Translation: X:137.42, Y:-32.06, Z:-14.62 [[ 8.96966178e-01 4.37995644e-01 6.00956866e-02 1.37423081e+02] [-4.37155647e-01 8.98975102e-01 -2.71791473e-02 -3.20601824e+01] [-6.59288741e-02 -1.89239289e-03 9.97822531e-01 -1.46220091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.867719421 meters 0.06127465260404968 Centerline is valid? [True, True] Translation: X:137.45, Y:-32.08, Z:-14.62 [[ 8.97049423e-01 4.37726730e-01 6.08082453e-02 1.37446032e+02] [-4.36866097e-01 8.99106065e-01 -2.75008416e-02 -3.20798704e+01] [-6.67109157e-02 -1.89544674e-03 9.97770545e-01 -1.46179385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.897719421 meters 0.06130851407492213 Centerline is valid? [True, True] Translation: X:137.47, Y:-32.10, Z:-14.62 [[ 8.97487753e-01 4.36903959e-01 6.02549942e-02 1.37467684e+02] [-4.36058450e-01 8.99506286e-01 -2.72299359e-02 -3.20983862e+01] [-6.60966129e-02 -1.83616541e-03 9.97811538e-01 -1.46222562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.927719421 meters 0.061303646710575734 Centerline is valid? [True, True] Translation: X:137.49, Y:-32.11, Z:-14.63 [[ 8.98101240e-01 4.35827941e-01 5.88911654e-02 1.37490846e+02] [-4.35020228e-01 9.00028305e-01 -2.65791528e-02 -3.21132521e+01] [-6.45876532e-02 -1.74807806e-03 9.97910507e-01 -1.46264526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.957719421 meters 0.06067252319451452 Centerline is valid? [True, True] Translation: X:137.51, Y:-32.13, Z:-14.63 [[ 8.98825637e-01 4.34347535e-01 5.87766381e-02 1.37513856e+02] [-4.33540144e-01 9.00743870e-01 -2.65221489e-02 -3.21333552e+01] [-6.44625265e-02 -1.64324479e-03 9.97918775e-01 -1.46286604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.987719421 meters 0.0613687915669974 Centerline is valid? [True, True] Translation: X:137.54, Y:-32.15, Z:-14.63 [[ 8.99306702e-01 4.33380487e-01 5.85560371e-02 1.37536178e+02] [-4.32577366e-01 9.01209678e-01 -2.64185385e-02 -3.21495936e+01] [-6.42205464e-02 -1.57164759e-03 9.97934493e-01 -1.46344526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01771942099998 meters 0.060995979570407394 Centerline is valid? [True, True] Translation: X:137.56, Y:-32.17, Z:-14.64 [[ 8.99463065e-01 4.33014795e-01 5.88589995e-02 1.37560892e+02] [-4.32204324e-01 9.01385431e-01 -2.65278376e-02 -3.21654204e+01] [-6.45415908e-02 -1.57830395e-03 9.97913770e-01 -1.46358811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04771942099998 meters 0.06098889317057169 Centerline is valid? [True, True] Translation: X:137.59, Y:-32.18, Z:-14.64 [[ 8.99345538e-01 4.33138718e-01 5.97365391e-02 1.37585439e+02] [-4.32305612e-01 9.01325796e-01 -2.69010675e-02 -3.21797057e+01] [-6.54939776e-02 -1.63108607e-03 9.97851631e-01 -1.46386389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07771942099998 meters 0.06017757841255045 Centerline is valid? [True, True] Translation: X:137.61, Y:-32.20, Z:-14.64 [[ 8.99942505e-01 4.31632874e-01 6.16161546e-02 1.37609620e+02] [-4.30744572e-01 9.02047964e-01 -2.77233499e-02 -3.21974967e+01] [-6.75470360e-02 -1.59140328e-03 9.97714822e-01 -1.46396185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10771942099998 meters 0.06017757841255045 Centerline is valid? [True, True] Translation: X:137.63, Y:-32.21, Z:-14.64 [[ 9.00091709e-01 4.31320665e-01 6.16230400e-02 1.37634691e+02] [-4.30432680e-01 9.02197302e-01 -2.77080346e-02 -3.22084657e+01] [-6.75471884e-02 -1.58479808e-03 9.97714822e-01 -1.46424352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13771942099999 meters 0.059763352096923274 Centerline is valid? [True, True] Translation: X:137.66, Y:-32.22, Z:-14.65 [[ 9.01535693e-01 4.28396236e-01 6.09102507e-02 1.37657478e+02] [-4.27524315e-01 9.03589928e-01 -2.73532638e-02 -3.22248516e+01] [-6.67559244e-02 -1.38066958e-03 9.97768380e-01 -1.46475816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.167719421 meters 0.05937473247637863 Centerline is valid? [True, True] Translation: X:137.68, Y:-32.24, Z:-14.65 [[ 9.02853585e-01 4.25721742e-01 6.01365254e-02 1.37681543e+02] [-4.24865925e-01 9.04853378e-01 -2.70057646e-02 -3.22410831e+01] [-6.59116793e-02 -1.16770910e-03 9.97824778e-01 -1.46517926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.197719421 meters 0.05857592670850301 Centerline is valid? [True, True] Translation: X:137.70, Y:-32.26, Z:-14.65 [[ 9.04436901e-01 4.22194904e-01 6.11993082e-02 1.37704834e+02] [-4.21302514e-01 9.06504579e-01 -2.74524890e-02 -3.22593396e+01] [-6.70677541e-02 -9.54378370e-04 9.97747967e-01 -1.46543544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.227719421 meters 0.0573150137231253 Centerline is valid? [True, True] Translation: X:137.73, Y:-32.28, Z:-14.66 [[ 9.08008704e-01 4.14460275e-01 6.11790355e-02 1.37725041e+02] [-4.13550737e-01 9.10067325e-01 -2.74454364e-02 -3.22841583e+01] [-6.70520843e-02 -3.79940098e-04 9.97749404e-01 -1.46575419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.257719421 meters 0.05732896375005007 Centerline is valid? [True, True] Translation: X:137.75, Y:-32.30, Z:-14.66 [[ 9.10424625e-01 4.09308293e-01 5.99476724e-02 1.37746583e+02] [-4.08425729e-01 9.12396142e-01 -2.68645317e-02 -3.23021746e+01] [-6.56919006e-02 -2.60405920e-05 9.97839954e-01 -1.46625818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.287719421 meters 0.05847085369343924 Centerline is valid? [True, True] Translation: X:137.77, Y:-32.33, Z:-14.67 [[ 9.15439696e-01 3.98226694e-01 5.81864581e-02 1.37766717e+02] [-3.97373410e-01 9.17286734e-01 -2.60656916e-02 -3.23287606e+01] [-6.37537204e-02 7.39817523e-04 9.97965388e-01 -1.46667298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.317719421 meters 0.059784458285146426 Centerline is valid? [True, True] Translation: X:137.79, Y:-32.35, Z:-14.67 [[ 9.17790539e-01 3.92764098e-01 5.82828420e-02 1.37788754e+02] [-3.91896973e-01 9.19638573e-01 -2.61085630e-02 -3.23475417e+01] [-6.38536559e-02 1.12132274e-03 9.97958643e-01 -1.46713635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.347719421 meters 0.062120762706452594 Centerline is valid? [True, True] Translation: X:137.81, Y:-32.37, Z:-14.67 [[ 9.21650416e-01 3.83506209e-01 5.90211735e-02 1.37811744e+02] [-3.82598713e-01 9.23536592e-01 -2.64270239e-02 -3.23710137e+01] [-6.46431412e-02 1.77505250e-03 9.97906866e-01 -1.46710992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.377719421 meters 0.06351810916521428 Centerline is valid? [True, True] Translation: X:137.84, Y:-32.39, Z:-14.67 [[ 9.23285287e-01 3.79280538e-01 6.07499185e-02 1.37835627e+02] [-3.78309668e-01 9.25279263e-01 -2.72044187e-02 -3.23889367e+01] [-6.65287464e-02 2.13515802e-03 9.97782224e-01 -1.46723440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.407719421 meters 0.06464976395945861 Centerline is valid? [True, True] Translation: X:137.86, Y:-32.40, Z:-14.67 [[ 9.24369815e-01 3.76543455e-01 6.12819053e-02 1.37859484e+02] [-3.75549851e-01 9.26395982e-01 -2.74370967e-02 -3.24048442e+01] [-6.71025700e-02 2.34761358e-03 9.97743321e-01 -1.46743602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.437719421 meters 0.06623870206004097 Centerline is valid? [True, True] Translation: X:137.88, Y:-32.42, Z:-14.67 [[ 9.26558784e-01 3.70628777e-01 6.42116009e-02 1.37884863e+02] [-3.69524336e-01 9.28776562e-01 -2.87378247e-02 -3.24209184e+01] [-7.02892948e-02 2.89953472e-03 9.97522435e-01 -1.46736402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.467719421 meters 0.06786853563815498 Centerline is valid? [True, True] Translation: X:137.91, Y:-32.43, Z:-14.68 [[ 9.27726897e-01 3.67452163e-01 6.55874376e-02 1.37909349e+02] [-3.66291942e-01 9.30036892e-01 -2.93528861e-02 -3.24340758e+01] [-7.17845181e-02 3.20731204e-03 9.97415007e-01 -1.46756015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.497719421 meters 0.068028039224568 Centerline is valid? [True, True] Translation: X:137.94, Y:-32.44, Z:-14.67 [[ 9.30403309e-01 3.60369660e-01 6.69581300e-02 1.37938452e+02] [-3.59143086e-01 9.32801756e-01 -2.99521006e-02 -3.24440963e+01] [-7.32524896e-02 3.81998408e-03 9.97306112e-01 -1.46737388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.527719421 meters 0.0761437118184503 Centerline is valid? [True, True] Translation: X:137.96, Y:-32.47, Z:-14.68 [[ 9.32816876e-01 3.53903401e-01 6.78605811e-02 1.37959466e+02] [-3.52626460e-01 9.35271694e-01 -3.03551824e-02 -3.24680343e+01] [-7.42108829e-02 4.38638997e-03 9.97232924e-01 -1.46799389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.557719421 meters 0.07600666687883896 Centerline is valid? [True, True] Translation: X:137.99, Y:-32.48, Z:-14.68 [[ 9.33859587e-01 3.51234517e-01 6.73838640e-02 1.37988145e+02] [-3.49968673e-01 9.36276389e-01 -3.01405245e-02 -3.24781372e+01] [-7.36763134e-02 4.56477629e-03 9.97271760e-01 -1.46816589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.587719421 meters 0.07466537704234577 Centerline is valid? [True, True] Translation: X:138.02, Y:-32.48, Z:-14.68 [[ 9.34904656e-01 3.48528384e-01 6.69421334e-02 1.38019150e+02] [-3.47272430e-01 9.37286222e-01 -2.99398981e-02 -3.24849464e+01] [-7.31788436e-02 4.74379286e-03 9.97307552e-01 -1.46829561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.617719421 meters 0.07740550706935098 Centerline is valid? [True, True] Translation: X:138.05, Y:-32.49, Z:-14.69 [[ 9.35914245e-01 3.45929599e-01 6.63116727e-02 1.38047993e+02] [-3.44690615e-01 9.38247667e-01 -2.96596701e-02 -3.24904507e+01] [-7.24769300e-02 4.90189649e-03 9.97358043e-01 -1.46875195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.647719421 meters 0.08430737861186861 Centerline is valid? [True, True] Translation: X:138.07, Y:-32.51, Z:-14.70 [[ 9.36145417e-01 3.45403238e-01 6.57902884e-02 1.38071942e+02] [-3.44182074e-01 9.38441536e-01 -2.94310060e-02 -3.25060857e+01] [-7.19059041e-02 4.90786353e-03 9.97399345e-01 -1.46960765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.677719421 meters 0.07912012228808504 Centerline is valid? [True, True] Translation: X:138.11, Y:-32.50, Z:-14.70 [[ 9.36114942e-01 3.45529246e-01 6.55618443e-02 1.38106454e+02] [-3.44317179e-01 9.38395308e-01 -2.93244875e-02 -3.24993436e+01] [-7.16553952e-02 4.87702161e-03 9.97417525e-01 -1.46956972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.707719421 meters 0.07773377223809345 Centerline is valid? [True, True] Translation: X:138.14, Y:-32.50, Z:-14.70 [[ 9.35660568e-01 3.46800476e-01 6.53355370e-02 1.38136001e+02] [-3.45600320e-01 9.37926864e-01 -2.92167289e-02 -3.25039396e+01] [-7.14123308e-02 4.75695870e-03 9.97435537e-01 -1.46979711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.737719421 meters 0.07663805005804526 Centerline is valid? [True, True] Translation: X:138.17, Y:-32.50, Z:-14.70 [[ 9.34509897e-01 3.49442559e-01 6.76841904e-02 1.38168912e+02] [-3.48161930e-01 9.36945941e-01 -3.02584412e-02 -3.25020798e+01] [-7.39900147e-02 4.71175442e-03 9.97247851e-01 -1.46994504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76771942099998 meters 0.07424488441362873 Centerline is valid? [True, True] Translation: X:138.20, Y:-32.50, Z:-14.70 [[ 9.33850307e-01 3.51217422e-01 6.76012305e-02 1.38200105e+02] [-3.49944704e-01 9.36282808e-01 -3.02193308e-02 -3.25027083e+01] [-7.39074253e-02 4.56363868e-03 9.97254664e-01 -1.47014428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79771942099998 meters 0.07158728095040492 Centerline is valid? [True, True] Translation: X:138.24, Y:-32.50, Z:-14.70 [[ 9.32397061e-01 3.54783609e-01 6.90239856e-02 1.38235418e+02] [-3.53467052e-01 9.34938262e-01 -3.08462299e-02 -3.24966096e+01] [-7.54769019e-02 4.36322935e-03 9.97138004e-01 -1.47039155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82771942099998 meters 0.06980214332065543 Centerline is valid? [True, True] Translation: X:138.27, Y:-32.50, Z:-14.71 [[ 9.31243960e-01 3.57784226e-01 6.91023442e-02 1.38268992e+02] [-3.56473010e-01 9.33795184e-01 -3.08795553e-02 -3.24952304e+01] [-7.55756540e-02 4.12327873e-03 9.97131546e-01 -1.47074855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85771942099998 meters 0.06734569070373372 Centerline is valid? [True, True] Translation: X:138.30, Y:-32.50, Z:-14.71 [[ 9.30697289e-01 3.59170923e-01 6.92734090e-02 1.38299925e+02] [-3.57856562e-01 9.33263113e-01 -3.09619698e-02 -3.24979870e+01] [-7.57709566e-02 4.02627735e-03 9.97117120e-01 -1.47091220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88771942099999 meters 0.06657938911191746 Centerline is valid? [True, True] Translation: X:138.33, Y:-32.50, Z:-14.71 [[ 9.29843368e-01 3.61378777e-01 6.92581420e-02 1.38329517e+02] [-3.60072914e-01 9.32411263e-01 -3.09310929e-02 -3.25029425e+01] [-7.57549122e-02 3.82309057e-03 9.97119139e-01 -1.47125103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.917719421 meters 0.06538504464804902 Centerline is valid? [True, True] Translation: X:138.36, Y:-32.50, Z:-14.72 [[ 9.27253006e-01 3.68004159e-01 6.90999348e-02 1.38362396e+02] [-3.66724888e-01 9.29818478e-01 -3.08294507e-02 -3.25008374e+01] [-7.55957623e-02 3.24603499e-03 9.97133263e-01 -1.47188892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.947719421 meters 0.06287061203979782 Centerline is valid? [True, True] Translation: X:138.39, Y:-32.50, Z:-14.72 [[ 9.25288413e-01 3.72959767e-01 6.88648338e-02 1.38394177e+02] [-3.71703036e-01 9.27843201e-01 -3.07221016e-02 -3.25019621e+01] [-7.53538757e-02 2.82953683e-03 9.97152840e-01 -1.47223800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.977719421 meters 0.05823837683614283 Centerline is valid? [True, True] Translation: X:138.43, Y:-32.49, Z:-14.73 [[ 9.20544550e-01 3.84644873e-01 6.81619582e-02 1.38431864e+02] [-3.83445780e-01 9.23062777e-01 -3.04046650e-02 -3.24914031e+01] [-7.46127650e-02 1.85243338e-03 9.97210862e-01 -1.47265929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.007719421 meters 0.05617122149128917 Centerline is valid? [True, True] Translation: X:138.46, Y:-32.49, Z:-14.73 [[ 9.18310847e-01 3.89954968e-01 6.81198252e-02 1.38464070e+02] [-3.88771457e-01 9.20832823e-01 -3.03918627e-02 -3.24915265e+01] [-7.45784289e-02 1.42613345e-03 9.97214132e-01 -1.47270472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.037719421 meters 0.055025809271745704 Centerline is valid? [True, True] Translation: X:138.50, Y:-32.49, Z:-14.73 [[ 9.14745881e-01 3.97885014e-01 7.01960703e-02 1.38497156e+02] [-3.96653872e-01 9.17434965e-01 -3.12856302e-02 -3.24869137e+01] [-7.68484127e-02 7.74858248e-04 9.97042487e-01 -1.47315883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.067719421 meters 0.05472873551762215 Centerline is valid? [True, True] Translation: X:138.53, Y:-32.49, Z:-14.74 [[ 9.13472496e-01 4.00720832e-01 7.06456929e-02 1.38525458e+02] [-3.99482473e-01 9.16200047e-01 -3.14837788e-02 -3.24912823e+01] [-7.73417932e-02 5.37849884e-04 9.97004492e-01 -1.47355386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.097719421 meters 0.054110512269485336 Centerline is valid? [True, True] Translation: X:138.56, Y:-32.49, Z:-14.74 [[ 9.11300451e-01 4.05435436e-01 7.17885451e-02 1.38556874e+02] [-4.04171515e-01 9.14123673e-01 -3.19890259e-02 -3.24914225e+01] [-7.85930932e-02 1.36728709e-04 9.96906769e-01 -1.47361128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.127719421 meters 0.0541774168518183 Centerline is valid? [True, True] Translation: X:138.58, Y:-32.50, Z:-14.74 [[ 9.10485092e-01 4.07302884e-01 7.15629713e-02 1.38584136e+02] [-4.06055109e-01 9.13293139e-01 -3.18573362e-02 -3.24977588e+01] [-7.83335556e-02 -5.28804650e-05 9.96927205e-01 -1.47404250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.157719421 meters 0.05435629363760919 Centerline is valid? [True, True] Translation: X:138.61, Y:-32.50, Z:-14.74 [[ 9.08984267e-01 4.10832170e-01 7.04594172e-02 1.38613615e+02] [-4.09633476e-01 9.11710920e-01 -3.13626150e-02 -3.25011649e+01] [-7.71233913e-02 -3.54412363e-04 9.97021493e-01 -1.47442316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.187719421 meters 0.054544380089479 Centerline is valid? [True, True] Translation: X:138.64, Y:-32.51, Z:-14.75 [[ 9.07801292e-01 4.13429308e-01 7.05196470e-02 1.38640221e+02] [-4.12238687e-01 9.10536020e-01 -3.13595440e-02 -3.25093360e+01] [-7.71756333e-02 -6.02692126e-04 9.97017331e-01 -1.47481108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.217719421 meters 0.05546372671198438 Centerline is valid? [True, True] Translation: X:138.67, Y:-32.51, Z:-14.75 [[ 9.04899293e-01 4.19837938e-01 6.99526611e-02 1.38669341e+02] [-4.18686184e-01 9.07598363e-01 -3.10980810e-02 -3.25146046e+01] [-7.65450749e-02 -1.14758122e-03 9.97065462e-01 -1.47511831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.247719421 meters 0.056487824400815394 Centerline is valid? [True, True] Translation: X:138.70, Y:-32.52, Z:-14.76 [[ 9.03301275e-01 4.23295864e-01 6.97668799e-02 1.38696786e+02] [-4.22162914e-01 9.05990323e-01 -3.09840192e-02 -3.25212622e+01] [-7.63235253e-02 -1.46508524e-03 9.97082029e-01 -1.47555451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.277719421 meters 0.05753016338252673 Centerline is valid? [True, True] Translation: X:138.73, Y:-32.53, Z:-14.76 [[ 9.00353010e-01 4.29478788e-01 7.00887136e-02 1.38726076e+02] [-4.28354833e-01 9.03074715e-01 -3.11158595e-02 -3.25293690e+01] [-7.66589467e-02 -2.00758144e-03 9.97055352e-01 -1.47553357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.307719421 meters 0.058542332234257005 Centerline is valid? [True, True] Translation: X:138.75, Y:-32.54, Z:-14.76 [[ 8.99222907e-01 4.31642317e-01 7.12956834e-02 1.38751987e+02] [-4.30486096e-01 9.02042092e-01 -3.16510053e-02 -3.25387078e+01] [-7.79736206e-02 -2.23049135e-03 9.96952927e-01 -1.47586250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.337719421 meters 0.05917790682608387 Centerline is valid? [True, True] Translation: X:138.78, Y:-32.55, Z:-14.76 [[ 8.98427270e-01 4.33100109e-01 7.24757605e-02 1.38776947e+02] [-4.31910873e-01 9.01342612e-01 -3.21635313e-02 -3.25539696e+01] [-7.92555202e-02 -2.40647538e-03 9.96851429e-01 -1.47613943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.367719421 meters 0.05846265696869716 Centerline is valid? [True, True] Translation: X:138.80, Y:-32.57, Z:-14.76 [[ 8.98486025e-01 4.32894970e-01 7.29712818e-02 1.38800706e+02] [-4.31690784e-01 9.01441096e-01 -3.23576544e-02 -3.25702006e+01] [-7.97867781e-02 -2.42812957e-03 9.96808996e-01 -1.47623155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.397719421 meters 0.058551521887465756 Centerline is valid? [True, True] Translation: X:138.82, Y:-32.59, Z:-14.77 [[ 8.98971447e-01 4.32035845e-01 7.20788847e-02 1.38821241e+02] [-4.30861092e-01 9.01853358e-01 -3.19255427e-02 -3.25887184e+01] [-7.87975630e-02 -2.35583565e-03 9.96887854e-01 -1.47659373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.427719421 meters 0.059484320475429855 Centerline is valid? [True, True] Translation: X:138.85, Y:-32.60, Z:-14.77 [[ 8.98970225e-01 4.32131596e-01 7.15179599e-02 1.38845351e+02] [-4.30976531e-01 9.01807473e-01 -3.16624425e-02 -3.26011240e+01] [-7.81777725e-02 -2.35896921e-03 9.96936643e-01 -1.47714688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.457719421 meters 0.05975551851604279 Centerline is valid? [True, True] Translation: X:138.87, Y:-32.62, Z:-14.78 [[ 8.98952853e-01 4.32779686e-01 6.77163958e-02 1.38869179e+02] [-4.31746897e-01 9.01496796e-01 -2.99690505e-02 -3.26195331e+01] [-7.40161101e-02 -2.29558027e-03 9.97254404e-01 -1.47771004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.487719421 meters 0.061110299721048894 Centerline is valid? [True, True] Translation: X:138.89, Y:-32.63, Z:-14.78 [[ 8.98583226e-01 4.33813519e-01 6.59849742e-02 1.38893253e+02] [-4.32835739e-01 9.00999694e-01 -2.92023106e-02 -3.26315277e+01] [-7.21207987e-02 -2.31994859e-03 9.97393206e-01 -1.47827259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51771942099998 meters 0.06189975493970671 Centerline is valid? [True, True] Translation: X:138.92, Y:-32.65, Z:-14.79 [[ 8.97974866e-01 4.35166761e-01 6.53531134e-02 1.38917023e+02] [-4.34211516e-01 9.00346648e-01 -2.89183924e-02 -3.26495598e+01] [-7.14247798e-02 -2.40908489e-03 9.97443080e-01 -1.47851516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54771942099998 meters 0.06220868502280423 Centerline is valid? [True, True] Translation: X:138.94, Y:-32.66, Z:-14.79 [[ 8.97535493e-01 4.35907444e-01 6.64435008e-02 1.38941639e+02] [-4.34923762e-01 8.99987942e-01 -2.93773019e-02 -3.26642542e+01] [-7.26041341e-02 -2.53068612e-03 9.97357627e-01 -1.47862815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57771942099998 meters 0.06438268518242339 Centerline is valid? [True, True] Translation: X:138.97, Y:-32.68, Z:-14.79 [[ 8.95768303e-01 4.39533122e-01 6.64061846e-02 1.38966798e+02] [-4.38563182e-01 8.98221841e-01 -2.93233622e-02 -3.26781808e+01] [-7.25360743e-02 -2.85636917e-03 9.97361699e-01 -1.47891821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60771942099998 meters 0.06404357916493303 Centerline is valid? [True, True] Translation: X:138.99, Y:-32.69, Z:-14.79 [[ 8.95174664e-01 4.40767784e-01 6.62274910e-02 1.38991648e+02] [-4.39806213e-01 8.97616334e-01 -2.92474320e-02 -3.26935405e+01] [-7.23382035e-02 -2.94570183e-03 9.97375810e-01 -1.47905674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63771942099999 meters 0.06403384132063329 Centerline is valid? [True, True] Translation: X:139.01, Y:-32.71, Z:-14.80 [[ 8.95928340e-01 4.39494349e-01 6.44757855e-02 1.39013555e+02] [-4.38581376e-01 8.98241027e-01 -2.84505420e-02 -3.27139653e+01] [-7.04186482e-02 -2.78823181e-03 9.97513629e-01 -1.47956524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.667719421 meters 0.06299345061841102 Centerline is valid? [True, True] Translation: X:139.04, Y:-32.73, Z:-14.80 [[ 8.96774508e-01 4.37637749e-01 6.53351481e-02 1.39036939e+02] [-4.36697652e-01 8.99147303e-01 -2.87973618e-02 -3.27325298e+01] [-7.13487348e-02 -2.70696576e-03 9.97447758e-01 -1.47980724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.697719421 meters 0.06151685219564773 Centerline is valid? [True, True] Translation: X:139.06, Y:-32.76, Z:-14.80 [[ 8.99833183e-01 4.31078869e-01 6.68674208e-02 1.39056939e+02] [-4.30076639e-01 9.02311457e-01 -2.94638469e-02 -3.27582995e+01] [-7.30364817e-02 -2.24556848e-03 9.97326742e-01 -1.48024319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.727719421 meters 0.059692816845594625 Centerline is valid? [True, True] Translation: X:139.08, Y:-32.78, Z:-14.80 [[ 9.01957028e-01 4.26565016e-01 6.71997537e-02 1.39079734e+02] [-4.25540517e-01 9.04454922e-01 -2.96067817e-02 -3.27800264e+01] [-7.34083653e-02 -1.89217315e-03 9.97300171e-01 -1.48049501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.757719421 meters 0.05616323910218468 Centerline is valid? [True, True] Translation: X:139.10, Y:-32.81, Z:-14.80 [[ 9.06429634e-01 4.16932667e-01 6.74719949e-02 1.39097128e+02] [-4.15873316e-01 9.08936687e-01 -2.97234444e-02 -3.28147550e+01] [-7.37204465e-02 -1.11759146e-03 9.97278320e-01 -1.48046345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.787719421 meters 0.05574884140020101 Centerline is valid? [True, True] Translation: X:139.12, Y:-32.84, Z:-14.81 [[ 9.08612512e-01 4.12239816e-01 6.69450286e-02 1.39118697e+02] [-4.11183859e-01 9.11075083e-01 -2.94962236e-02 -3.28351053e+01] [-7.31514653e-02 -7.26077365e-04 9.97320578e-01 -1.48093268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.817719421 meters 0.05491567254815737 Centerline is valid? [True, True] Translation: X:139.14, Y:-32.87, Z:-14.81 [[ 9.13143912e-01 4.02223718e-01 6.62138662e-02 1.39135747e+02] [-4.01166088e-01 9.15541412e-01 -2.91494731e-02 -3.28683506e+01] [-7.23461460e-02 5.49062532e-05 9.97379583e-01 -1.48118126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.847719421 meters 0.05485830989804616 Centerline is valid? [True, True] Translation: X:139.16, Y:-32.89, Z:-14.81 [[ 9.15022776e-01 3.98002819e-01 6.57805122e-02 1.39158722e+02] [-3.96949696e-01 9.17384119e-01 -2.89364356e-02 -3.28883125e+01] [-7.18627802e-02 3.65943353e-04 9.97414461e-01 -1.48127339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.877719421 meters 0.055528284811349304 Centerline is valid? [True, True] Translation: X:139.18, Y:-32.91, Z:-14.82 [[ 9.17473358e-01 3.92510808e-01 6.46366963e-02 1.39178771e+02] [-3.91482576e-01 9.19747083e-01 -2.84023892e-02 -3.29118530e+01] [-7.05976576e-02 7.54295031e-04 9.97504587e-01 -1.48172626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.907719421 meters 0.05561052356753715 Centerline is valid? [True, True] Translation: X:139.20, Y:-32.93, Z:-14.82 [[ 9.18361565e-01 3.90366875e-01 6.50056879e-02 1.39202839e+02] [-3.89321625e-01 9.20658923e-01 -2.85625726e-02 -3.29280180e+01] [-7.09979488e-02 9.22648873e-04 9.97476035e-01 -1.48185032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.937719421 meters 0.055408529227272456 Centerline is valid? [True, True] Translation: X:139.23, Y:-32.94, Z:-14.82 [[ 9.18777903e-01 3.89016874e-01 6.71791423e-02 1.39227467e+02] [-3.87898774e-01 9.21230045e-01 -2.94914458e-02 -3.29430712e+01] [-7.33601143e-02 1.03738179e-03 9.97304977e-01 -1.48193348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.967719421 meters 0.054910591660667675 Centerline is valid? [True, True] Translation: X:139.25, Y:-32.96, Z:-14.82 [[ 9.18255248e-01 3.89937832e-01 6.89622122e-02 1.39252512e+02] [-3.88764112e-01 9.20840679e-01 -3.02474573e-02 -3.29573970e+01] [-7.52978382e-02 9.64853242e-04 9.97160621e-01 -1.48198313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.997719421 meters 0.054802076732548034 Centerline is valid? [True, True] Translation: X:139.28, Y:-32.97, Z:-14.83 [[ 9.16320145e-01 3.94995279e-01 6.58492327e-02 1.39279006e+02] [-3.93940417e-01 9.18683015e-01 -2.88524862e-02 -3.29650743e+01] [-7.18911675e-02 4.97440156e-04 9.97412358e-01 -1.48274383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.027719421 meters 0.054802076732548034 Centerline is valid? [True, True] Translation: X:139.30, Y:-32.98, Z:-14.83 [[ 9.16454564e-01 3.94683252e-01 6.58495497e-02 1.39304186e+02] [-3.93627637e-01 9.18817098e-01 -2.88517669e-02 -3.29757895e+01] [-7.18910013e-02 5.21130738e-04 9.97412358e-01 -1.48302546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.057719421 meters 0.05456171247481635 Centerline is valid? [True, True] Translation: X:139.33, Y:-32.98, Z:-14.83 [[ 9.14851460e-01 3.98444220e-01 6.54905354e-02 1.39331938e+02] [-3.97411583e-01 9.17192544e-01 -2.86682838e-02 -3.29829768e+01] [-7.14901427e-02 2.00523913e-04 9.97441286e-01 -1.48325778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.087719421 meters 0.05473663492580668 Centerline is valid? [True, True] Translation: X:139.36, Y:-32.98, Z:-14.84 [[ 9.10101334e-01 4.08913499e-01 6.71216225e-02 1.39361565e+02] [-4.07859573e-01 9.12572904e-01 -2.93472962e-02 -3.29845952e+01] [-7.32538795e-02 -6.67182899e-04 9.97313102e-01 -1.48353137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.117719421 meters 0.05534814088585736 Centerline is valid? [True, True] Translation: X:139.39, Y:-32.99, Z:-14.84 [[ 9.08390519e-01 4.12621118e-01 6.76053068e-02 1.39389651e+02] [-4.11562831e-01 9.10902218e-01 -2.95497149e-02 -3.29911226e+01] [-7.37746603e-02 -9.81150603e-04 9.97274454e-01 -1.48382939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.147719421 meters 0.05674123944291804 Centerline is valid? [True, True] Translation: X:139.42, Y:-33.00, Z:-14.84 [[ 9.05952054e-01 4.18050741e-01 6.69660681e-02 1.39420093e+02] [-4.17029494e-01 9.08422539e-01 -2.92385284e-02 -3.29956754e+01] [-7.30566741e-02 -1.43812066e-03 9.97326754e-01 -1.48418124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.177719421 meters 0.05729331314788165 Centerline is valid? [True, True] Translation: X:139.45, Y:-33.01, Z:-14.85 [[ 9.05216640e-01 4.19627347e-01 6.70501581e-02 1.39446975e+02] [-4.18607498e-01 9.07695129e-01 -2.92799567e-02 -3.30057920e+01] [-7.31477724e-02 -1.56299484e-03 9.97319889e-01 -1.48453770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.207719421 meters 0.058452737934106096 Centerline is valid? [True, True] Translation: X:139.47, Y:-33.02, Z:-14.85 [[ 9.04545891e-01 4.21276840e-01 6.57461428e-02 1.39471110e+02] [-4.20302707e-01 9.06930522e-01 -2.86821065e-02 -3.30178183e+01] [-7.17102908e-02 -1.68900018e-03 9.97424073e-01 -1.48503881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.237719421 meters 0.058863553190517434 Centerline is valid? [True, True] Translation: X:139.50, Y:-33.03, Z:-14.86 [[ 9.04400947e-01 4.21756091e-01 6.46585392e-02 1.39495154e+02] [-4.20815851e-01 9.06707718e-01 -2.81981145e-02 -3.30302239e+01] [-7.05191231e-02 -1.70693677e-03 9.97508967e-01 -1.48553759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26771942099998 meters 0.05969499806921627 Centerline is valid? [True, True] Translation: X:139.52, Y:-33.04, Z:-14.86 [[ 9.03144206e-01 4.24311995e-01 6.54971227e-02 1.39522356e+02] [-4.23354184e-01 9.05513990e-01 -2.85595608e-02 -3.30407506e+01] [-7.14267252e-02 -1.93507911e-03 9.97443973e-01 -1.48578008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29771942099998 meters 0.060921500542284124 Centerline is valid? [True, True] Translation: X:139.55, Y:-33.05, Z:-14.86 [[ 9.02050505e-01 4.26518242e-01 6.62350074e-02 1.39549357e+02] [-4.25546736e-01 9.04476381e-01 -2.88522333e-02 -3.30486296e+01] [-7.22140036e-02 -2.15991962e-03 9.97386822e-01 -1.48607159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32771942099998 meters 0.06159273170395775 Centerline is valid? [True, True] Translation: X:139.58, Y:-33.06, Z:-14.86 [[ 8.99537572e-01 4.31730033e-01 6.66433408e-02 1.39575766e+02] [-4.30761405e-01 9.01999117e-01 -2.90207548e-02 -3.30615230e+01] [-7.26413660e-02 -2.60211980e-03 9.97354732e-01 -1.48592348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35771942099998 meters 0.06207741485182758 Centerline is valid? [True, True] Translation: X:139.60, Y:-33.08, Z:-14.86 [[ 8.98128021e-01 4.34568243e-01 6.72049154e-02 1.39601462e+02] [-4.33591490e-01 9.00634367e-01 -2.92601612e-02 -3.30756918e+01] [-7.32425932e-02 -2.86010881e-03 9.97310053e-01 -1.48607299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38771942099999 meters 0.06355025672251732 Centerline is valid? [True, True] Translation: X:139.63, Y:-33.09, Z:-14.86 [[ 8.95838407e-01 4.39488776e-01 6.57507688e-02 1.39627259e+02] [-4.38567562e-01 8.98242391e-01 -2.86199352e-02 -3.30927157e+01] [-7.16382681e-02 -3.19731719e-03 9.97425554e-01 -1.48636677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.417719421 meters 0.06851102157122282 Centerline is valid? [True, True] Translation: X:139.65, Y:-33.10, Z:-14.87 [[ 8.94901406e-01 4.41309518e-01 6.63127706e-02 1.39654731e+02] [-4.40377188e-01 8.97348630e-01 -2.88681413e-02 -3.30978544e+01] [-7.22454593e-02 -3.36849126e-03 9.97381194e-01 -1.48721091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.447719421 meters 0.06644456072975992 Centerline is valid? [True, True] Translation: X:139.68, Y:-33.12, Z:-14.87 [[ 8.94054076e-01 4.42878419e-01 6.72756622e-02 1.39676320e+02] [-4.41923421e-01 8.96574655e-01 -2.92844325e-02 -3.31198596e+01] [-7.32870968e-02 -3.54882457e-03 9.97304571e-01 -1.48727741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.477719421 meters 0.06555952027187005 Centerline is valid? [True, True] Translation: X:139.70, Y:-33.14, Z:-14.88 [[ 8.94318115e-01 4.42481768e-01 6.63701233e-02 1.39699684e+02] [-4.41552915e-01 8.96770711e-01 -2.88671879e-02 -3.31373869e+01] [-7.22919870e-02 -3.48947231e-03 9.97377407e-01 -1.48768136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.507719421 meters 0.06590572006495365 Centerline is valid? [True, True] Translation: X:139.72, Y:-33.16, Z:-14.88 [[ 8.94998631e-01 4.41603923e-01 6.29557478e-02 1.39719648e+02] [-4.40768048e-01 8.97204157e-01 -2.73537542e-02 -3.31587839e+01] [-6.85636838e-02 -3.26730949e-03 9.97641391e-01 -1.48848649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.537719421 meters 0.06669174261863275 Centerline is valid? [True, True] Translation: X:139.74, Y:-33.17, Z:-14.89 [[ 8.95731959e-01 4.40262245e-01 6.19145713e-02 1.39742505e+02] [-4.39451008e-01 8.97863820e-01 -2.68955888e-02 -3.31739256e+01] [-6.74319658e-02 -3.11718232e-03 9.97719005e-01 -1.48917017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.567719421 meters 0.0639686777499938 Centerline is valid? [True, True] Translation: X:139.76, Y:-33.20, Z:-14.89 [[ 8.97070679e-01 4.37414884e-01 6.27089841e-02 1.39762493e+02] [-4.36576862e-01 8.99254961e-01 -2.72242188e-02 -3.32032624e+01] [-6.82996436e-02 -2.95524309e-03 9.97660476e-01 -1.48913552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.597719421 meters 0.06400763753779501 Centerline is valid? [True, True] Translation: X:139.79, Y:-33.22, Z:-14.89 [[ 8.97637580e-01 4.36064533e-01 6.39882710e-02 1.39786201e+02] [-4.35188644e-01 8.99910684e-01 -2.77777609e-02 -3.32193068e+01] [-6.96966251e-02 -2.91260680e-03 9.97563981e-01 -1.48941227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.627719421 meters 0.0629179640152927 Centerline is valid? [True, True] Translation: X:139.81, Y:-33.24, Z:-14.90 [[ 8.98049702e-01 4.34998410e-01 6.54455193e-02 1.39810159e+02] [-4.34079292e-01 9.00426569e-01 -2.84106167e-02 -3.32372460e+01] [-7.12874575e-02 -2.89439884e-03 9.97451613e-01 -1.48954061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.657719421 meters 0.06078690519008988 Centerline is valid? [True, True] Translation: X:139.83, Y:-33.26, Z:-14.90 [[ 8.98936853e-01 4.33185107e-01 6.52931735e-02 1.39831594e+02] [-4.32267619e-01 9.01300718e-01 -2.83146747e-02 -3.32603935e+01] [-7.11142796e-02 -2.77102010e-03 9.97464326e-01 -1.48971363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.687719421 meters 0.0621152820637105 Centerline is valid? [True, True] Translation: X:139.86, Y:-33.27, Z:-14.90 [[ 8.98418730e-01 4.34091484e-01 6.63955471e-02 1.39856271e+02] [-4.33145653e-01 9.00864136e-01 -2.87863064e-02 -3.32739082e+01] [-7.23092577e-02 -2.89678575e-03 9.97378053e-01 -1.49003671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.717719421 meters 0.0632447411047703 Centerline is valid? [True, True] Translation: X:139.88, Y:-33.29, Z:-14.90 [[ 8.96607575e-01 4.37543547e-01 6.81945816e-02 1.39879429e+02] [-4.36556416e-01 8.99191274e-01 -2.95558599e-02 -3.32942654e+01] [-7.42519485e-02 -3.27077427e-03 9.97234150e-01 -1.48999915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.747719421 meters 0.06616490932586376 Centerline is valid? [True, True] Translation: X:139.91, Y:-33.31, Z:-14.90 [[ 8.93560086e-01 4.43783167e-01 6.78739569e-02 1.39905437e+02] [-4.42823687e-01 8.96126240e-01 -2.94099424e-02 -3.33092277e+01] [-7.38752711e-02 -3.77664520e-03 9.97260338e-01 -1.49035771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.777719421 meters 0.06939049328543286 Centerline is valid? [True, True] Translation: X:139.93, Y:-33.32, Z:-14.91 [[ 8.91916124e-01 4.47138305e-01 6.74756560e-02 1.39932064e+02] [-4.46199611e-01 8.94455751e-01 -2.92372361e-02 -3.33195449e+01] [-7.34270768e-02 -4.03044920e-03 9.97292445e-01 -1.49081642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.807719421 meters 0.07216756004170699 Centerline is valid? [True, True] Translation: X:139.96, Y:-33.34, Z:-14.91 [[ 8.88689623e-01 4.53652717e-01 6.65579850e-02 1.39957353e+02] [-4.52757603e-01 8.91167159e-01 -2.88383036e-02 -3.33382517e+01] [-7.23968652e-02 -4.50633260e-03 9.97365724e-01 -1.49116931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.837719421 meters 0.07183906308853523 Centerline is valid? [True, True] Translation: X:139.98, Y:-33.36, Z:-14.91 [[ 8.87915921e-01 4.55194820e-01 6.63550501e-02 1.39982089e+02] [-4.54309325e-01 8.90379899e-01 -2.87519174e-02 -3.33551926e+01] [-7.21689267e-02 -4.61643286e-03 9.97381740e-01 -1.49142468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.867719421 meters 0.07414483012203209 Centerline is valid? [True, True] Translation: X:140.01, Y:-33.37, Z:-14.92 [[ 8.87461177e-01 4.56102887e-01 6.62028433e-02 1.40006677e+02] [-4.55224055e-01 8.89914742e-01 -2.86846905e-02 -3.33674668e+01] [-7.19980564e-02 -4.68057758e-03 9.97393790e-01 -1.49195395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.897719421 meters 0.07348390719500629 Centerline is valid? [True, True] Translation: X:140.03, Y:-33.39, Z:-14.92 [[ 8.87061618e-01 4.57019884e-01 6.52266171e-02 1.40027083e+02] [-4.56169921e-01 8.89444098e-01 -2.82524265e-02 -3.33941022e+01] [-7.09273503e-02 -4.69277762e-03 9.97470445e-01 -1.49208839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.927719421 meters 0.07336458121747573 Centerline is valid? [True, True] Translation: X:140.05, Y:-33.42, Z:-14.92 [[ 8.86828303e-01 4.57447871e-01 6.53988293e-02 1.40047521e+02] [-4.56594865e-01 8.89223789e-01 -2.83228280e-02 -3.34192387e+01] [-7.11104121e-02 -4.74328416e-03 9.97457172e-01 -1.49227677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.957719421 meters 0.07589623903455629 Centerline is valid? [True, True] Translation: X:140.07, Y:-33.43, Z:-14.93 [[ 8.86678841e-01 4.57638692e-01 6.60867663e-02 1.40071858e+02] [-4.56768591e-01 8.89125216e-01 -2.86147588e-02 -3.34312535e+01] [-7.18546312e-02 -4.81425799e-03 9.97403497e-01 -1.49268234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.987719421 meters 0.07603909459963783 Centerline is valid? [True, True] Translation: X:140.09, Y:-33.45, Z:-14.93 [[ 8.85927262e-01 4.59194219e-01 6.53724475e-02 1.40094041e+02] [-4.58347710e-01 8.88322412e-01 -2.82960924e-02 -3.34527746e+01] [-7.10652123e-02 -4.89503195e-03 9.97459660e-01 -1.49313528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01771942099998 meters 0.07509811340079749 Centerline is valid? [True, True] Translation: X:140.12, Y:-33.47, Z:-14.93 [[ 8.85574607e-01 4.60091071e-01 6.38264896e-02 1.40119044e+02] [-4.59286930e-01 8.87858455e-01 -2.76202812e-02 -3.34720800e+01] [-6.93767333e-02 -4.85485273e-03 9.97578718e-01 -1.49341077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04771942099998 meters 0.07689042719427013 Centerline is valid? [True, True] Translation: X:140.14, Y:-33.49, Z:-14.94 [[ 8.84812020e-01 4.61784167e-01 6.21536251e-02 1.40141910e+02] [-4.61025768e-01 8.86979033e-01 -2.68967842e-02 -3.34927552e+01] [-6.75494713e-02 -4.85582476e-03 9.97704109e-01 -1.49379037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07771942099998 meters 0.0771844057445421 Centerline is valid? [True, True] Translation: X:140.17, Y:-33.51, Z:-14.94 [[ 8.84434787e-01 4.62496704e-01 6.22246414e-02 1.40167800e+02] [-4.61738508e-01 8.86607359e-01 -2.69247415e-02 -3.35109093e+01] [-6.76214292e-02 -4.91833507e-03 9.97698929e-01 -1.49407021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10771942099998 meters 0.07849236001347831 Centerline is valid? [True, True] Translation: X:140.19, Y:-33.53, Z:-14.94 [[ 8.84466081e-01 4.62334986e-01 6.29770820e-02 1.40192045e+02] [-4.61558267e-01 8.86691412e-01 -2.72453105e-02 -3.35318647e+01] [-6.84376980e-02 -4.97003987e-03 9.97643012e-01 -1.49443800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13771942099999 meters 0.08165526929960433 Centerline is valid? [True, True] Translation: X:140.22, Y:-33.54, Z:-14.95 [[ 8.85210476e-01 4.60786715e-01 6.38593456e-02 1.40219629e+02] [-4.59982053e-01 8.87497416e-01 -2.76558875e-02 -3.35432978e+01] [-6.94184697e-02 -4.89287158e-03 9.97575629e-01 -1.49509137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.167719421 meters 0.07403869952174827 Centerline is valid? [True, True] Translation: X:140.24, Y:-33.58, Z:-14.95 [[ 8.87903751e-01 4.55302707e-01 6.57751848e-02 1.40238219e+02] [-4.54433837e-01 8.90324841e-01 -2.84879809e-02 -3.35774115e+01] [-7.15319358e-02 -4.59588448e-03 9.97427722e-01 -1.49504584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.197719421 meters 0.06978814529973104 Centerline is valid? [True, True] Translation: X:140.26, Y:-33.60, Z:-14.95 [[ 8.89316686e-01 4.52210643e-01 6.79806274e-02 1.40260671e+02] [-4.51273533e-01 8.91899847e-01 -2.94425149e-02 -3.36040147e+01] [-7.39461298e-02 -4.49413814e-03 9.97252111e-01 -1.49492355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.227719421 meters 0.06507536655129448 Centerline is valid? [True, True] Translation: X:140.28, Y:-33.64, Z:-14.95 [[ 8.92954302e-01 4.44699322e-01 6.98221193e-02 1.40279663e+02] [-4.43687643e-01 8.95671097e-01 -3.02417041e-02 -3.36376068e+01] [-7.59861195e-02 -3.97475183e-03 9.97100953e-01 -1.49484405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.257719421 meters 0.0659046830266626 Centerline is valid? [True, True] Translation: X:140.31, Y:-33.65, Z:-14.95 [[ 8.94754331e-01 4.40938780e-01 7.06235040e-02 1.40305479e+02] [-4.39892047e-01 8.97529566e-01 -3.05886462e-02 -3.36522052e+01] [-7.68744032e-02 -3.69739408e-03 9.97033929e-01 -1.49537245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.287719421 meters 0.06051402198153975 Centerline is valid? [True, True] Translation: X:140.33, Y:-33.68, Z:-14.96 [[ 8.98071157e-01 4.34239019e-01 7.00333562e-02 1.40325010e+02] [-4.33189398e-01 9.00792364e-01 -3.03325223e-02 -3.36843967e+01] [-7.62570772e-02 -3.09694404e-03 9.97083380e-01 -1.49550936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.317719421 meters 0.060012904788678344 Centerline is valid? [True, True] Translation: X:140.35, Y:-33.70, Z:-14.96 [[ 8.99750077e-01 4.30834140e-01 6.95107360e-02 1.40350213e+02] [-4.29789935e-01 9.02426828e-01 -3.01069955e-02 -3.37023819e+01] [-7.56994745e-02 -2.78624318e-03 9.97126786e-01 -1.49597024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.347719421 meters 0.057146404072292566 Centerline is valid? [True, True] Translation: X:140.37, Y:-33.73, Z:-14.96 [[ 9.03476632e-01 4.23130759e-01 6.84860224e-02 1.40371693e+02] [-4.22094718e-01 9.06066185e-01 -2.96667603e-02 -3.37297070e+01] [-7.46057879e-02 -2.10436361e-03 9.97210884e-01 -1.49639390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.377719421 meters 0.05512431196317635 Centerline is valid? [True, True] Translation: X:140.39, Y:-33.75, Z:-14.97 [[ 9.07273713e-01 4.15093373e-01 6.74677827e-02 1.40393363e+02] [-4.14065474e-01 9.09777710e-01 -2.92284401e-02 -3.37548305e+01] [-7.35132166e-02 -1.41788404e-03 9.97293235e-01 -1.49678611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.407719421 meters 0.05434305335766238 Centerline is valid? [True, True] Translation: X:140.42, Y:-33.77, Z:-14.97 [[ 9.09019007e-01 4.11260769e-01 6.74464529e-02 1.40420866e+02] [-4.10223050e-01 9.11517060e-01 -2.92181082e-02 -3.37726220e+01] [-7.34948541e-02 -1.10827388e-03 9.97294981e-01 -1.49718486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.437719421 meters 0.054013378682839897 Centerline is valid? [True, True] Translation: X:140.45, Y:-33.79, Z:-14.98 [[ 9.10152859e-01 4.08769852e-01 6.72977160e-02 1.40449329e+02] [-4.07729313e-01 9.12637060e-01 -2.91616930e-02 -3.37886103e+01] [-7.33388106e-02 -8.97653322e-04 9.97306680e-01 -1.49754728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.467719421 meters 0.053535578262743855 Centerline is valid? [True, True] Translation: X:140.47, Y:-33.81, Z:-14.98 [[ 9.12674491e-01 4.03015678e-01 6.78501049e-02 1.40474887e+02] [-4.01941801e-01 9.15192971e-01 -2.94043275e-02 -3.38079682e+01] [-7.39463441e-02 -4.35213664e-04 9.97262126e-01 -1.49787262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.497719421 meters 0.05361303148494513 Centerline is valid? [True, True] Translation: X:140.50, Y:-33.83, Z:-14.98 [[ 9.15400219e-01 3.96860029e-01 6.74133225e-02 1.40500744e+02] [-3.95781817e-01 9.17879138e-01 -2.92342638e-02 -3.38290853e+01] [-7.34791931e-02 8.00842485e-05 9.97296747e-01 -1.49814472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.527719421 meters 0.05404186819989792 Centerline is valid? [True, True] Translation: X:140.53, Y:-33.85, Z:-14.99 [[ 9.16605261e-01 3.94243444e-01 6.63845087e-02 1.40528856e+02] [-3.93188953e-01 9.19005990e-01 -2.88173135e-02 -3.38451588e+01] [-7.23687981e-02 3.12445633e-04 9.97377892e-01 -1.49851765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.557719421 meters 0.054378075007765724 Centerline is valid? [True, True] Translation: X:140.56, Y:-33.86, Z:-14.99 [[ 9.17229663e-01 3.92817597e-01 6.62123960e-02 1.40556882e+02] [-3.91764681e-01 9.19616308e-01 -2.87451091e-02 -3.38588951e+01] [-7.21815838e-02 4.26188481e-04 9.97391416e-01 -1.49889008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.587719421 meters 0.05425132176202634 Centerline is valid? [True, True] Translation: X:140.59, Y:-33.87, Z:-14.99 [[ 9.17507540e-01 3.91990224e-01 6.72575612e-02 1.40586365e+02] [-3.90900016e-01 9.19969237e-01 -2.92195312e-02 -3.38674787e+01] [-7.33286578e-02 5.18158441e-04 9.97307695e-01 -1.49922737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.617719421 meters 0.05397711584760984 Centerline is valid? [True, True] Translation: X:140.62, Y:-33.88, Z:-15.00 [[ 9.16709482e-01 3.93731796e-01 6.79632104e-02 1.40617525e+02] [-3.92621865e-01 9.19225278e-01 -2.95458722e-02 -3.38760662e+01] [-7.41066503e-02 4.01138798e-04 9.97250241e-01 -1.49951567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.647719421 meters 0.052890537746813834 Centerline is valid? [True, True] Translation: X:140.65, Y:-33.88, Z:-14.99 [[ 9.14312506e-01 3.98981284e-01 6.96173528e-02 1.40652143e+02] [-3.97830085e-01 9.16959070e-01 -3.02867648e-02 -3.38786951e+01] [-7.59201154e-02 -4.30961588e-06 9.97113903e-01 -1.49907626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.677719421 meters 0.052944093121397535 Centerline is valid? [True, True] Translation: X:140.68, Y:-33.89, Z:-15.00 [[ 9.12602825e-01 4.02781935e-01 7.01626429e-02 1.40683331e+02] [-4.01621577e-01 9.15295922e-01 -3.05529744e-02 -3.38851166e+01] [-7.65257671e-02 -2.96100544e-04 9.97067560e-01 -1.49952454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.707719421 meters 0.053726751039525865 Centerline is valid? [True, True] Translation: X:140.72, Y:-33.88, Z:-15.00 [[ 9.08943815e-01 4.10965656e-01 7.02023636e-02 1.40717989e+02] [-4.09827387e-01 9.11650306e-01 -3.05815536e-02 -3.38831254e+01] [-7.65679745e-02 -9.73937261e-04 9.97063888e-01 -1.49992909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.737719421 meters 0.05511649407257866 Centerline is valid? [True, True] Translation: X:140.75, Y:-33.88, Z:-15.00 [[ 9.05938045e-01 4.17791499e-01 6.87497027e-02 1.40751204e+02] [-4.16717334e-01 9.08541709e-01 -2.99770849e-02 -3.38841790e+01] [-7.49861437e-02 -1.49181119e-03 9.97183460e-01 -1.50025270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76771942099998 meters 0.05575972770082476 Centerline is valid? [True, True] Translation: X:140.78, Y:-33.89, Z:-15.01 [[ 9.04636585e-01 4.20496929e-01 6.93900699e-02 1.40782862e+02] [-4.19411012e-01 9.07292298e-01 -3.02504343e-02 -3.38919939e+01] [-7.56772907e-02 -1.73730985e-03 9.97130849e-01 -1.50060716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79771942099998 meters 0.05571438959234668 Centerline is valid? [True, True] Translation: X:140.81, Y:-33.90, Z:-15.01 [[ 9.03519017e-01 4.22855002e-01 6.96206429e-02 1.40813733e+02] [-4.21767073e-01 9.06195321e-01 -3.03739418e-02 -3.39021449e+01] [-7.59336740e-02 -1.92026076e-03 9.97111022e-01 -1.50075714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82771942099998 meters 0.057539585610192595 Centerline is valid? [True, True] Translation: X:140.85, Y:-33.90, Z:-15.01 [[ 9.02137946e-01 4.25681266e-01 7.03035317e-02 1.40846448e+02] [-4.24578195e-01 9.04870612e-01 -3.07006820e-02 -3.39038900e+01] [-7.66843049e-02 -2.15309643e-03 9.97053099e-01 -1.50133731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85771942099998 meters 0.057193107911650824 Centerline is valid? [True, True] Translation: X:140.88, Y:-33.92, Z:-15.02 [[ 9.01339988e-01 4.27484556e-01 6.95929627e-02 1.40876033e+02] [-4.26408399e-01 9.04019788e-01 -3.03990008e-02 -3.39154949e+01] [-7.59085188e-02 -2.27518885e-03 9.97112190e-01 -1.50152533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88771942099999 meters 0.05834614755201489 Centerline is valid? [True, True] Translation: X:140.91, Y:-33.92, Z:-15.02 [[ 9.00505879e-01 4.29569783e-01 6.75201014e-02 1.40906502e+02] [-4.28560990e-01 9.03030591e-01 -2.95165981e-02 -3.39228473e+01] [-7.36521557e-02 -2.35661141e-03 9.97281207e-01 -1.50213114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.917719421 meters 0.05834614755201489 Centerline is valid? [True, True] Translation: X:140.94, Y:-33.94, Z:-15.02 [[ 9.00366250e-01 4.29863499e-01 6.75128729e-02 1.40935992e+02] [-4.28854292e-01 9.02890797e-01 -2.95331207e-02 -3.39360063e+01] [-7.36519621e-02 -2.36256019e-03 9.97281207e-01 -1.50246425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.947719421 meters 0.0581721252955452 Centerline is valid? [True, True] Translation: X:140.97, Y:-33.95, Z:-15.03 [[ 9.00264612e-01 4.30206562e-01 6.66779048e-02 1.40965139e+02] [-4.29221189e-01 9.02727452e-01 -2.91944735e-02 -3.39483478e+01] [-7.27516292e-02 -2.33681828e-03 9.97347352e-01 -1.50281222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.977719421 meters 0.05893555988620738 Centerline is valid? [True, True] Translation: X:141.00, Y:-33.96, Z:-15.03 [[ 8.99688861e-01 4.31615870e-01 6.53275935e-02 1.40996092e+02] [-4.30672164e-01 9.02054362e-01 -2.86254184e-02 -3.39575587e+01] [-7.12842255e-02 -2.38080595e-03 9.97453202e-01 -1.50331579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.007719421 meters 0.060108767108654905 Centerline is valid? [True, True] Translation: X:141.03, Y:-33.97, Z:-15.04 [[ 8.99076550e-01 4.32950568e-01 6.49242768e-02 1.41025546e+02] [-4.32020077e-01 9.01414342e-01 -2.84751880e-02 -3.39654976e+01] [-7.08520231e-02 -2.44721727e-03 9.97483835e-01 -1.50387974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.037719421 meters 0.06162949512145773 Centerline is valid? [True, True] Translation: X:141.06, Y:-33.97, Z:-15.04 [[ 8.97654404e-01 4.36170254e-01 6.30244452e-02 1.41057117e+02] [-4.35300400e-01 8.99860380e-01 -2.76560907e-02 -3.39708742e+01] [-6.87759653e-02 -2.60895458e-03 9.97628718e-01 -1.50449598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.067719421 meters 0.06274663017181657 Centerline is valid? [True, True] Translation: X:141.09, Y:-33.98, Z:-15.05 [[ 8.96578231e-01 4.38301185e-01 6.35574299e-02 1.41087423e+02] [-4.37422256e-01 8.98823802e-01 -2.78844707e-02 -3.39806326e+01] [-6.93487274e-02 -2.80082493e-03 9.97588547e-01 -1.50482557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.097719421 meters 0.06317477602837326 Centerline is valid? [True, True] Translation: X:141.12, Y:-33.99, Z:-15.05 [[ 8.94500518e-01 4.42356692e-01 6.47254265e-02 1.41116272e+02] [-4.41453543e-01 8.96833689e-01 -2.84271745e-02 -3.39933751e+01] [-7.06228938e-02 -3.14514651e-03 9.97498128e-01 -1.50464141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.127719421 meters 0.06390735002373402 Centerline is valid? [True, True] Translation: X:141.15, Y:-34.01, Z:-15.05 [[ 8.93705425e-01 4.43836301e-01 6.55740129e-02 1.41145988e+02] [-4.42913614e-01 8.96101772e-01 -2.87948808e-02 -3.40053313e+01] [-7.15412025e-02 -3.30948187e-03 9.97432155e-01 -1.50485816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.157719421 meters 0.06663380883997133 Centerline is valid? [True, True] Translation: X:141.18, Y:-34.01, Z:-15.05 [[ 8.92718874e-01 4.45459314e-01 6.79633174e-02 1.41177667e+02] [-4.44470988e-01 8.95295169e-01 -2.98680541e-02 -3.40129678e+01] [-7.41522327e-02 -3.54394723e-03 9.97240636e-01 -1.50533740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.187719421 meters 0.0636225148546976 Centerline is valid? [True, True] Translation: X:141.21, Y:-34.03, Z:-15.05 [[ 8.92464860e-01 4.45895227e-01 6.84391752e-02 1.41206009e+02] [-4.44892440e-01 8.95077989e-01 -3.01016753e-02 -3.40312010e+01] [-7.46805927e-02 -3.58338422e-03 9.97201067e-01 -1.50531941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.217719421 meters 0.0648185742647284 Centerline is valid? [True, True] Translation: X:141.23, Y:-34.04, Z:-15.06 [[ 8.92399460e-01 4.46212944e-01 6.72102063e-02 1.41234917e+02] [-4.45244435e-01 8.94919910e-01 -2.95930270e-02 -3.40414752e+01] [-7.33525434e-02 -3.51616905e-03 9.97299875e-01 -1.50595297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.247719421 meters 0.06620885805463708 Centerline is valid? [True, True] Translation: X:141.26, Y:-34.05, Z:-15.06 [[ 8.92431848e-01 4.46302610e-01 6.61768654e-02 1.41263199e+02] [-4.45363317e-01 8.94875410e-01 -2.91464859e-02 -3.40535223e+01] [-7.22282022e-02 -3.46149599e-03 9.97382126e-01 -1.50649136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.277719421 meters 0.06429603634108658 Centerline is valid? [True, True] Translation: X:141.29, Y:-34.07, Z:-15.07 [[ 8.92663747e-01 4.46128347e-01 6.41944986e-02 1.41289787e+02] [-4.45242792e-01 8.94962809e-01 -2.82918190e-02 -3.40731959e+01] [-7.00734712e-02 -3.32705668e-03 9.97536285e-01 -1.50667729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.307719421 meters 0.06429439201426995 Centerline is valid? [True, True] Translation: X:141.31, Y:-34.09, Z:-15.07 [[ 8.93598553e-01 4.44704693e-01 6.09865783e-02 1.41314975e+02] [-4.43900738e-01 8.95672110e-01 -2.68999122e-02 -3.40908004e+01] [-6.65864944e-02 -3.03426453e-03 9.97776043e-01 -1.50724854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.337719421 meters 0.06386382691701716 Centerline is valid? [True, True] Translation: X:141.34, Y:-34.11, Z:-15.08 [[ 8.93583732e-01 4.44494525e-01 6.27114974e-02 1.41342889e+02] [-4.43642839e-01 8.95776236e-01 -2.76760804e-02 -3.41069905e+01] [-6.84773353e-02 -3.09061155e-03 9.97647885e-01 -1.50757938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.367719421 meters 0.06413568178170032 Centerline is valid? [True, True] Translation: X:141.37, Y:-34.12, Z:-15.08 [[ 8.93784022e-01 4.43697673e-01 6.54407897e-02 1.41371226e+02] [-4.42765754e-01 8.96171053e-01 -2.89124627e-02 -3.41184723e+01] [-7.14745338e-02 -3.13344336e-03 9.97437503e-01 -1.50781305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.397719421 meters 0.06313008241917747 Centerline is valid? [True, True] Translation: X:141.40, Y:-34.13, Z:-15.08 [[ 8.93666033e-01 4.43078754e-01 7.10087311e-02 1.41397831e+02] [-4.41979026e-01 8.96476456e-01 -3.13768173e-02 -3.41349687e+01] [-7.75600567e-02 -3.34397396e-03 9.96982074e-01 -1.50761886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.427719421 meters 0.06333501377745826 Centerline is valid? [True, True] Translation: X:141.43, Y:-34.15, Z:-15.08 [[ 8.93512248e-01 4.43341813e-01 7.13014675e-02 1.41426728e+02] [-4.42234309e-01 8.96346233e-01 -3.14999381e-02 -3.41507772e+01] [-7.78760414e-02 -3.38637468e-03 9.96957298e-01 -1.50781305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.457719421 meters 0.06177747180572751 Centerline is valid? [True, True] Translation: X:141.45, Y:-34.17, Z:-15.08 [[ 8.93648470e-01 4.43617079e-01 6.77960043e-02 1.41452070e+02] [-4.42614386e-01 8.96210667e-01 -2.99824330e-02 -3.41724332e+01] [-7.40602216e-02 -3.21373144e-03 9.97248593e-01 -1.50804699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.487719421 meters 0.06381632940528462 Centerline is valid? [True, True] Translation: X:141.48, Y:-34.18, Z:-15.09 [[ 8.94157176e-01 4.42815571e-01 6.63122482e-02 1.41481448e+02] [-4.41854204e-01 8.96607434e-01 -2.93252750e-02 -3.41827590e+01] [-7.24417430e-02 -3.07894059e-03 9.97367893e-01 -1.50894704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51771942099998 meters 0.06053775543768065 Centerline is valid? [True, True] Translation: X:141.51, Y:-34.21, Z:-15.09 [[ 8.95977204e-01 4.39279421e-01 6.52567284e-02 1.41505915e+02] [-4.38336730e-01 8.98346370e-01 -2.88913557e-02 -3.42051150e+01] [-7.13145231e-02 -2.71842486e-03 9.97450174e-01 -1.50915817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54771942099998 meters 0.06007260052167924 Centerline is valid? [True, True] Translation: X:141.53, Y:-34.22, Z:-15.09 [[ 8.96787727e-01 4.37553965e-01 6.57137827e-02 1.41534046e+02] [-4.36593733e-01 8.99188383e-01 -2.90888854e-02 -3.42212866e+01] [-7.18170272e-02 -2.60367026e-03 9.97414425e-01 -1.50940644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57771942099998 meters 0.05749625947811175 Centerline is valid? [True, True] Translation: X:141.56, Y:-34.24, Z:-15.09 [[ 8.99543844e-01 4.31502015e-01 6.80211957e-02 1.41556842e+02] [-4.30453314e-01 9.02109375e-01 -3.01433154e-02 -3.42430659e+01] [-7.43694597e-02 -2.16471531e-03 9.97228408e-01 -1.50934309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60771942099998 meters 0.056714346870691906 Centerline is valid? [True, True] Translation: X:141.58, Y:-34.26, Z:-15.10 [[ 9.01127689e-01 4.28112614e-01 6.84724674e-02 1.41583058e+02] [-4.27040311e-01 9.03723400e-01 -3.03412263e-02 -3.42593546e+01] [-7.48696327e-02 -1.89918465e-03 9.97191522e-01 -1.50967487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63771942099999 meters 0.05621773413491686 Centerline is valid? [True, True] Translation: X:141.61, Y:-34.28, Z:-15.10 [[ 9.01710898e-01 4.26854029e-01 6.86519727e-02 1.41610612e+02] [-4.25772568e-01 9.04318746e-01 -3.04191622e-02 -3.42758555e+01] [-7.50678079e-02 -1.80083667e-03 9.97176805e-01 -1.50994912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.667719421 meters 0.05461469530818465 Centerline is valid? [True, True] Translation: X:141.64, Y:-34.29, Z:-15.10 [[ 9.03560115e-01 4.22702151e-01 7.00143509e-02 1.41637028e+02] [-4.21562506e-01 9.06267492e-01 -3.10529533e-02 -3.42942692e+01] [-7.65778804e-02 -1.45721510e-03 9.97062538e-01 -1.51005705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.697719421 meters 0.054616793117366204 Centerline is valid? [True, True] Translation: X:141.67, Y:-34.31, Z:-15.11 [[ 9.04232581e-01 4.21046563e-01 7.12967814e-02 1.41665513e+02] [-4.19859633e-01 9.07038032e-01 -3.16211567e-02 -3.43071565e+01] [-7.79828716e-02 -1.34176032e-03 9.96953796e-01 -1.51054629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.727719421 meters 0.05363253359061316 Centerline is valid? [True, True] Translation: X:141.69, Y:-34.32, Z:-15.11 [[ 9.05684480e-01 4.17686247e-01 7.26210859e-02 1.41693479e+02] [-4.16441913e-01 9.08590722e-01 -3.22340465e-02 -3.43243244e+01] [-7.94465628e-02 -1.04858829e-03 9.96838575e-01 -1.51056186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.757719421 meters 0.053308148497717235 Centerline is valid? [True, True] Translation: X:141.72, Y:-34.34, Z:-15.11 [[ 9.06651550e-01 4.15781190e-01 7.14770530e-02 1.41722479e+02] [-4.14568108e-01 9.09464285e-01 -3.17489901e-02 -3.43404135e+01] [-7.82064598e-02 -8.46835541e-04 9.96936825e-01 -1.51078078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.787719421 meters 0.05320633914282886 Centerline is valid? [True, True] Translation: X:141.75, Y:-34.36, Z:-15.11 [[ 9.08304950e-01 4.12704217e-01 6.82447617e-02 1.41749877e+02] [-4.11587879e-01 9.10864944e-01 -3.03392722e-02 -3.43565135e+01] [-7.46829067e-02 -5.31405619e-04 9.97207191e-01 -1.51114712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.817719421 meters 0.05368000680186074 Centerline is valid? [True, True] Translation: X:141.78, Y:-34.36, Z:-15.12 [[ 9.09010984e-01 4.11409775e-01 6.66410431e-02 1.41779545e+02] [-4.10340126e-01 9.11450406e-01 -2.96502749e-02 -3.43645727e+01] [-7.29384187e-02 -3.93068453e-04 9.97336369e-01 -1.51215652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.847719421 meters 0.05349195221322056 Centerline is valid? [True, True] Translation: X:141.81, Y:-34.38, Z:-15.12 [[ 9.08427587e-01 4.12395004e-01 6.84812397e-02 1.41810243e+02] [-4.11266449e-01 9.11005019e-01 -3.04920116e-02 -3.43755334e+01] [-7.49615063e-02 -4.64251766e-04 9.97186320e-01 -1.51213416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.877719421 meters 0.05325596872106469 Centerline is valid? [True, True] Translation: X:141.84, Y:-34.39, Z:-15.12 [[ 9.07720668e-01 4.13746383e-01 6.96930343e-02 1.41839535e+02] [-4.12579452e-01 9.10392012e-01 -3.10577058e-02 -3.43858981e+01] [-7.62979952e-02 -5.62192422e-04 9.97084901e-01 -1.51221936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.907719421 meters 0.05320003969536956 Centerline is valid? [True, True] Translation: X:141.87, Y:-34.40, Z:-15.12 [[ 9.06968731e-01 4.15217822e-01 7.07239846e-02 1.41870950e+02] [-4.14018750e-01 9.09721773e-01 -3.15399737e-02 -3.43956002e+01] [-7.74351079e-02 -6.75285831e-04 9.96997166e-01 -1.51226402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.937719421 meters 0.0533323416905346 Centerline is valid? [True, True] Translation: X:141.90, Y:-34.41, Z:-15.13 [[ 9.07112407e-01 4.15136815e-01 6.93433890e-02 1.41900454e+02] [-4.13981787e-01 9.09758775e-01 -3.09524058e-02 -3.44058086e+01] [-7.59352398e-02 -6.29588698e-04 9.97112553e-01 -1.51275928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.967719421 meters 0.053532647921976144 Centerline is valid? [True, True] Translation: X:141.93, Y:-34.41, Z:-15.13 [[ 9.06920789e-01 4.15696486e-01 6.84917089e-02 1.41930600e+02] [-4.14570569e-01 9.09503159e-01 -3.05817908e-02 -3.44126671e+01] [-7.50061686e-02 -6.59384913e-04 9.97182852e-01 -1.51336698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.997719421 meters 0.053771479028592625 Centerline is valid? [True, True] Translation: X:141.96, Y:-34.42, Z:-15.14 [[ 9.06690943e-01 4.16318864e-01 6.77505507e-02 1.41961318e+02] [-4.15217370e-01 9.09218421e-01 -3.02720838e-02 -3.44227401e+01] [-7.42028882e-02 -6.83781254e-04 9.97242931e-01 -1.51381644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.027719421 meters 0.054307669678009325 Centerline is valid? [True, True] Translation: X:141.99, Y:-34.43, Z:-15.14 [[ 9.05740049e-01 4.18686357e-01 6.58536092e-02 1.41992443e+02] [-4.17649828e-01 9.08130526e-01 -2.94545108e-02 -3.44274348e+01] [-7.21358746e-02 -8.25618545e-04 9.97394473e-01 -1.51434843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.057719421 meters 0.0546650743682435 Centerline is valid? [True, True] Translation: X:142.02, Y:-34.44, Z:-15.15 [[ 9.05209991e-01 4.19947743e-01 6.51057966e-02 1.42023197e+02] [-4.18938271e-01 9.07547820e-01 -2.91149290e-02 -3.44365482e+01] [-7.13133726e-02 -9.20185223e-04 9.97453536e-01 -1.51475668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.087719421 meters 0.055103825136359946 Centerline is valid? [True, True] Translation: X:142.05, Y:-34.44, Z:-15.15 [[ 9.04660249e-01 4.21385357e-01 6.34367034e-02 1.42054919e+02] [-4.20428755e-01 9.06881147e-01 -2.83944973e-02 -3.44408450e+01] [-6.94945757e-02 -9.83241219e-04 9.97581845e-01 -1.51532429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.117719421 meters 0.055046317765328624 Centerline is valid? [True, True] Translation: X:142.08, Y:-34.45, Z:-15.16 [[ 9.05063749e-01 4.20523109e-01 6.34028814e-02 1.42084807e+02] [-4.19564997e-01 9.07281370e-01 -2.83853709e-02 -3.44509039e+01] [-6.94609575e-02 -9.11059469e-04 9.97584255e-01 -1.51572516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.147719421 meters 0.05482320987839698 Centerline is valid? [True, True] Translation: X:142.11, Y:-34.46, Z:-15.16 [[ 9.06345708e-01 4.17723277e-01 6.35981219e-02 1.42113889e+02] [-4.16750796e-01 9.08574050e-01 -2.84950867e-02 -3.44606592e+01] [-6.96866642e-02 -6.78168336e-04 9.97568699e-01 -1.51613825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.177719421 meters 0.05461555731657188 Centerline is valid? [True, True] Translation: X:142.14, Y:-34.47, Z:-15.16 [[ 9.07578587e-01 4.15077633e-01 6.33377221e-02 1.42142375e+02] [-4.14105351e-01 9.09785882e-01 -2.83973146e-02 -3.44741791e+01] [-6.94108555e-02 -4.55694976e-04 9.97588054e-01 -1.51640835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.207719421 meters 0.05482393304213923 Centerline is valid? [True, True] Translation: X:142.17, Y:-34.49, Z:-15.17 [[ 9.11127729e-01 4.07268128e-01 6.30787867e-02 1.42169411e+02] [-4.06283625e-01 9.13308626e-01 -2.83014006e-02 -3.44916241e+01] [-6.91366585e-02 1.58312799e-04 9.97607186e-01 -1.51680686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.237719421 meters 0.05543298538438191 Centerline is valid? [True, True] Translation: X:142.20, Y:-34.51, Z:-15.17 [[ 9.12983233e-01 4.03196076e-01 6.24062596e-02 1.42197075e+02] [-4.02221406e-01 9.15113485e-01 -2.80222971e-02 -3.45073172e+01] [-6.84072900e-02 4.82753921e-04 9.97657361e-01 -1.51721479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26771942099998 meters 0.05649207373901393 Centerline is valid? [True, True] Translation: X:142.22, Y:-34.52, Z:-15.18 [[ 9.14823124e-01 3.98952644e-01 6.27330758e-02 1.42223516e+02] [-3.97956260e-01 9.16971160e-01 -2.81905404e-02 -3.45234069e+01] [-6.87711119e-02 8.24338047e-04 9.97632124e-01 -1.51754482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29771942099998 meters 0.05886459424091745 Centerline is valid? [True, True] Translation: X:142.25, Y:-34.54, Z:-15.17 [[ 9.18782101e-01 3.89479971e-01 6.43801409e-02 1.42250389e+02] [-3.88405335e-01 9.21033546e-01 -2.89569072e-02 -3.45423905e+01] [-7.05744049e-02 1.59949784e-03 9.97505236e-01 -1.51743023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32771942099998 meters 0.06062757338171029 Centerline is valid? [True, True] Translation: X:142.28, Y:-34.56, Z:-15.18 [[ 9.20416947e-01 3.85673262e-01 6.39435637e-02 1.42278021e+02] [-3.84604000e-01 9.22633517e-01 -2.87603402e-02 -3.45582842e+01] [-7.00885692e-02 1.87855410e-03 9.97539004e-01 -1.51770217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35771942099998 meters 0.06257495355167196 Centerline is valid? [True, True] Translation: X:142.31, Y:-34.57, Z:-15.18 [[ 9.22907200e-01 3.80011724e-01 6.19143824e-02 1.42306482e+02] [-3.78994750e-01 9.24978908e-01 -2.78747144e-02 -3.45706848e+01] [-6.78622160e-02 2.26054870e-03 9.97692142e-01 -1.51791747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38771942099999 meters 0.0654146173703848 Centerline is valid? [True, True] Translation: X:142.33, Y:-34.58, Z:-15.19 [[ 9.23456330e-01 3.78774191e-01 6.13067635e-02 1.42333394e+02] [-3.77774929e-01 9.25486211e-01 -2.75930702e-02 -3.45847796e+01] [-6.71901071e-02 2.32083714e-03 9.97737492e-01 -1.51868269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.417719421 meters 0.06273173810047378 Centerline is valid? [True, True] Translation: X:142.37, Y:-34.59, Z:-15.18 [[ 9.23105146e-01 3.79350479e-01 6.30087609e-02 1.42368369e+02] [-3.78294353e-01 9.25250025e-01 -2.83861481e-02 -3.45873681e+01] [-6.90671565e-02 2.36754091e-03 9.97609203e-01 -1.51845790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.447719421 meters 0.06257309897329166 Centerline is valid? [True, True] Translation: X:142.40, Y:-34.60, Z:-15.19 [[ 9.22526732e-01 3.80673802e-01 6.34971295e-02 1.42398565e+02] [-3.79604243e-01 9.24706561e-01 -2.86076012e-02 -3.45968670e+01] [-6.96063766e-02 2.28749710e-03 9.97571912e-01 -1.51877182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.477719421 meters 0.06073280216754431 Centerline is valid? [True, True] Translation: X:142.43, Y:-34.60, Z:-15.19 [[ 9.20970171e-01 3.84512508e-01 6.29608945e-02 1.42432501e+02] [-3.83467763e-01 9.23117595e-01 -2.83968464e-02 -3.45969093e+01] [-6.90392522e-02 2.00917510e-03 9.97611921e-01 -1.51911510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.507719421 meters 0.06014047401630783 Centerline is valid? [True, True] Translation: X:142.46, Y:-34.60, Z:-15.20 [[ 9.19681187e-01 3.87810573e-01 6.15586957e-02 1.42463699e+02] [-3.86819642e-01 9.21737496e-01 -2.77588502e-02 -3.46022404e+01] [-6.75061336e-02 1.71717970e-03 9.97717381e-01 -1.51976573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.537719421 meters 0.05695025070147831 Centerline is valid? [True, True] Translation: X:142.50, Y:-34.60, Z:-15.20 [[ 9.16607889e-01 3.95336457e-01 5.94900355e-02 1.42501867e+02] [-3.94425768e-01 9.18535675e-01 -2.68426264e-02 -3.45960910e+01] [-6.52555887e-02 1.13976017e-03 9.97867932e-01 -1.52000981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.567719421 meters 0.056497334410972724 Centerline is valid? [True, True] Translation: X:142.53, Y:-34.60, Z:-15.21 [[ 9.14385922e-01 4.00442300e-01 5.95344399e-02 1.42533208e+02] [-3.99539561e-01 9.16321630e-01 -2.68851319e-02 -3.46011762e+01] [-6.53186390e-02 7.97022133e-04 9.97864139e-01 -1.52066005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.597719421 meters 0.05459698675529206 Centerline is valid? [True, True] Translation: X:142.57, Y:-34.60, Z:-15.21 [[ 9.10393524e-01 4.09373872e-01 5.99721954e-02 1.42570665e+02] [-4.08475784e-01 9.12366704e-01 -2.71022478e-02 -3.45953576e+01] [-6.58115863e-02 1.76521366e-04 9.97832052e-01 -1.52085843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.627719421 meters 0.05416982844803587 Centerline is valid? [True, True] Translation: X:142.60, Y:-34.60, Z:-15.21 [[ 9.08327629e-01 4.13954492e-01 5.98547945e-02 1.42604969e+02] [-4.13068606e-01 9.10297566e-01 -2.70678247e-02 -3.46002783e+01] [-6.56905214e-02 -1.37683453e-04 9.97840036e-01 -1.52108074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.657719421 meters 0.05462256517278789 Centerline is valid? [True, True] Translation: X:142.64, Y:-34.60, Z:-15.22 [[ 9.04639345e-01 4.22086472e-01 5.89123507e-02 1.42639535e+02] [-4.21242950e-01 9.06555320e-01 -2.66801341e-02 -3.45953965e+01] [-6.46686286e-02 -6.80513362e-04 9.97906561e-01 -1.52157260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.687719421 meters 0.05584256415539088 Centerline is valid? [True, True] Translation: X:142.67, Y:-34.60, Z:-15.22 [[ 9.03215268e-01 4.25092425e-01 5.91490443e-02 1.42668066e+02] [-4.24248526e-01 9.05149503e-01 -2.67874208e-02 -3.45982895e+01] [-6.49258577e-02 -8.99087421e-04 9.97889686e-01 -1.52234725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.717719421 meters 0.05628654586184892 Centerline is valid? [True, True] Translation: X:142.70, Y:-34.60, Z:-15.22 [[ 9.01438850e-01 4.28726247e-01 6.00150371e-02 1.42698272e+02] [-4.27866120e-01 9.03433670e-01 -2.71695902e-02 -3.46013159e+01] [-6.58679217e-02 -1.18667688e-03 9.97827645e-01 -1.52239015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.747719421 meters 0.05743010098617234 Centerline is valid? [True, True] Translation: X:142.73, Y:-34.61, Z:-15.23 [[ 9.00687021e-01 4.30268889e-01 6.02625397e-02 1.42725225e+02] [-4.29405422e-01 9.02699822e-01 -2.72766283e-02 -3.46071309e+01] [-6.61352684e-02 -1.30935618e-03 9.97809807e-01 -1.52301170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.777719421 meters 0.05673064503110482 Centerline is valid? [True, True] Translation: X:142.75, Y:-34.62, Z:-15.23 [[ 9.00065585e-01 4.31420930e-01 6.13019128e-02 1.42753054e+02] [-4.30530597e-01 9.02149627e-01 -2.77390633e-02 -3.46169696e+01] [-6.72707103e-02 -1.42537283e-03 9.97733742e-01 -1.52295238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.807719421 meters 0.05669799457291522 Centerline is valid? [True, True] Translation: X:142.78, Y:-34.63, Z:-15.23 [[ 9.00617822e-01 4.30178030e-01 6.19225405e-02 1.42777864e+02] [-4.29266987e-01 9.02743063e-01 -2.80145681e-02 -3.46280078e+01] [-6.79513956e-02 -1.35088310e-03 9.97687718e-01 -1.52334252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.837719421 meters 0.05669799457291522 Centerline is valid? [True, True] Translation: X:142.80, Y:-34.64, Z:-15.24 [[ 9.00667597e-01 4.30073444e-01 6.19250630e-02 1.42802887e+02] [-4.29162537e-01 9.02792896e-01 -2.80089908e-02 -3.46391431e+01] [-6.79514301e-02 -1.34912676e-03 9.97687718e-01 -1.52362430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.867719421 meters 0.056004517445742426 Centerline is valid? [True, True] Translation: X:142.83, Y:-34.65, Z:-15.24 [[ 9.01606940e-01 4.28054115e-01 6.22462939e-02 1.42828211e+02] [-4.27129660e-01 9.03752291e-01 -2.81433812e-02 -3.46542488e+01] [-6.83021209e-02 -1.21297053e-03 9.97663946e-01 -1.52376920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.897719421 meters 0.05393545400935032 Centerline is valid? [True, True] Translation: X:142.85, Y:-34.68, Z:-15.24 [[ 9.04607786e-01 4.21469888e-01 6.36230141e-02 1.42851949e+02] [-4.20488146e-01 9.06842098e-01 -2.87598206e-02 -3.46751879e+01] [-6.98174260e-02 -7.36365641e-04 9.97559514e-01 -1.52358569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.927719421 meters 0.05314332110457956 Centerline is valid? [True, True] Translation: X:142.88, Y:-34.70, Z:-15.24 [[ 9.08619218e-01 4.12729341e-01 6.37621124e-02 1.42877288e+02] [-4.11722619e-01 9.10853712e-01 -2.88097131e-02 -3.46965251e+01] [-6.99685707e-02 -7.52448967e-05 9.97549194e-01 -1.52375116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.957719421 meters 0.053497638961444154 Centerline is valid? [True, True] Translation: X:142.90, Y:-34.71, Z:-15.24 [[ 9.10775734e-01 4.08120715e-01 6.26501808e-02 1.42904108e+02] [-4.07136412e-01 9.12927925e-01 -2.83292449e-02 -3.47146423e+01] [-6.87568512e-02 2.94418946e-04 9.97633404e-01 -1.52413590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.987719421 meters 0.05737946886162385 Centerline is valid? [True, True] Translation: X:142.92, Y:-34.74, Z:-15.25 [[ 9.15572395e-01 3.97453222e-01 6.13035577e-02 1.42922732e+02] [-3.96484832e-01 9.17621776e-01 -2.77498524e-02 -3.47430230e+01] [-6.72827478e-02 1.10106800e-03 9.97733341e-01 -1.52526227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01771942099998 meters 0.05779895895418231 Centerline is valid? [True, True] Translation: X:142.95, Y:-34.76, Z:-15.25 [[ 9.17510016e-01 3.93047809e-01 6.07354161e-02 1.42949749e+02] [-3.92087572e-01 9.19516952e-01 -2.74938308e-02 -3.47606956e+01] [-6.66536347e-02 1.41226331e-03 9.97775174e-01 -1.52507921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04771942099998 meters 0.058195123909931326 Centerline is valid? [True, True] Translation: X:142.98, Y:-34.78, Z:-15.25 [[ 9.19923446e-01 3.87223748e-01 6.16329693e-02 1.42978596e+02] [-3.86219974e-01 9.21983844e-01 -2.79271018e-02 -3.47759887e+01] [-6.76386390e-02 1.88691199e-03 9.97708101e-01 -1.52497630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07771942099998 meters 0.05965119976165626 Centerline is valid? [True, True] Translation: X:143.01, Y:-34.79, Z:-15.26 [[ 9.20686747e-01 3.85412126e-01 6.15906408e-02 1.43005848e+02] [-3.84405746e-01 9.22742338e-01 -2.79070064e-02 -3.47902641e+01] [-6.75879905e-02 2.01781473e-03 9.97711277e-01 -1.52557290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10771942099998 meters 0.06053428436833992 Centerline is valid? [True, True] Translation: X:143.03, Y:-34.80, Z:-15.26 [[ 9.21527455e-01 3.83377549e-01 6.17155159e-02 1.43034645e+02] [-3.82361053e-01 9.23589114e-01 -2.79852353e-02 -3.48027786e+01] [-6.77286896e-02 2.19155304e-03 9.97701369e-01 -1.52591875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13771942099999 meters 0.06036232353307515 Centerline is valid? [True, True] Translation: X:143.06, Y:-34.81, Z:-15.26 [[ 9.21194173e-01 3.84102840e-01 6.21796041e-02 1.43064298e+02] [-3.83071226e-01 9.23287758e-01 -2.82161434e-02 -3.48144696e+01] [-6.82475681e-02 2.17332972e-03 9.97666049e-01 -1.52619861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.167719421 meters 0.058300725844810344 Centerline is valid? [True, True] Translation: X:143.10, Y:-34.82, Z:-15.26 [[ 9.19652858e-01 3.87906963e-01 6.13743366e-02 1.43097866e+02] [-3.86908898e-01 9.21696603e-01 -2.78725062e-02 -3.48188744e+01] [-6.73804568e-02 1.88675307e-03 9.97725571e-01 -1.52630862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.197719421 meters 0.05740737539099548 Centerline is valid? [True, True] Translation: X:143.13, Y:-34.83, Z:-15.27 [[ 9.18154737e-01 3.91545153e-01 6.06982052e-02 1.43129368e+02] [-3.90575383e-01 9.20157464e-01 -2.75882494e-02 -3.48264639e+01] [-6.66539519e-02 1.62305712e-03 9.97774833e-01 -1.52672536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.227719421 meters 0.05466986647807723 Centerline is valid? [True, True] Translation: X:143.17, Y:-34.82, Z:-15.27 [[ 9.14205569e-01 4.00833476e-01 5.96716165e-02 1.43165437e+02] [-3.99913869e-01 9.16150426e-01 -2.71531709e-02 -3.48232918e+01] [-6.55520768e-02 9.60073018e-04 9.97848688e-01 -1.52696378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.257719421 meters 0.05390822921327196 Centerline is valid? [True, True] Translation: X:143.20, Y:-34.83, Z:-15.27 [[ 9.12137627e-01 4.05429965e-01 6.02618702e-02 1.43196279e+02] [-4.04501475e-01 9.14125882e-01 -2.74304323e-02 -3.48263806e+01] [-6.62080545e-02 6.44314081e-04 9.97805632e-01 -1.52734952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.287719421 meters 0.0531356450104397 Centerline is valid? [True, True] Translation: X:143.23, Y:-34.82, Z:-15.28 [[ 9.08597294e-01 4.13092241e-01 6.16908255e-02 1.43229200e+02] [-4.12136666e-01 9.10689185e-01 -2.80816087e-02 -3.48217998e+01] [-6.77814623e-02 8.98225896e-05 9.97700188e-01 -1.52770434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.317719421 meters 0.05313707737835697 Centerline is valid? [True, True] Translation: X:143.26, Y:-34.82, Z:-15.28 [[ 9.05633569e-01 4.19401020e-01 6.26946858e-02 1.43260723e+02] [-4.18429574e-01 9.07800986e-01 -2.85317720e-02 -3.48223723e+01] [-6.88805519e-02 -3.93980148e-04 9.97624836e-01 -1.52784762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.347719421 meters 0.053240406769640196 Centerline is valid? [True, True] Translation: X:143.29, Y:-34.83, Z:-15.28 [[ 9.04446071e-01 4.22003608e-01 6.23719380e-02 1.43288886e+02] [-4.21048763e-01 9.06593956e-01 -2.83784794e-02 -3.48296949e+01] [-6.85218427e-02 -5.94823161e-04 9.97649439e-01 -1.52797752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.377719421 meters 0.0542076487288064 Centerline is valid? [True, True] Translation: X:143.32, Y:-34.83, Z:-15.29 [[ 9.02234072e-01 4.26741754e-01 6.21703775e-02 1.43318901e+02] [-4.25804686e-01 9.04373021e-01 -2.82808879e-02 -3.48300218e+01] [-6.82938479e-02 -9.56457444e-04 9.97664791e-01 -1.52857070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.407719421 meters 0.05403988875643909 Centerline is valid? [True, True] Translation: X:143.35, Y:-34.84, Z:-15.29 [[ 9.01445468e-01 4.28477819e-01 6.16670656e-02 1.43346207e+02] [-4.27560528e-01 9.03551646e-01 -2.80431512e-02 -3.48390222e+01] [-6.77352469e-02 -1.08703158e-03 9.97702739e-01 -1.52857620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.437719421 meters 0.055045702853092064 Centerline is valid? [True, True] Translation: X:143.37, Y:-34.84, Z:-15.29 [[ 9.00041905e-01 4.31194028e-01 6.32161334e-02 1.43372667e+02] [-4.30237035e-01 9.02258248e-01 -2.87427817e-02 -3.48439800e+01] [-6.94309936e-02 -1.32821377e-03 9.97585872e-01 -1.52907105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.467719421 meters 0.055146340938882404 Centerline is valid? [True, True] Translation: X:143.40, Y:-34.86, Z:-15.29 [[ 8.99838621e-01 4.31773554e-01 6.21454230e-02 1.43399355e+02] [-4.30850526e-01 9.01981021e-01 -2.82499983e-02 -3.48550624e+01] [-6.82515943e-02 -1.35494867e-03 9.97667221e-01 -1.52935200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.497719421 meters 0.05626400738003349 Centerline is valid? [True, True] Translation: X:143.43, Y:-34.86, Z:-15.30 [[ 8.99245770e-01 4.33319234e-01 5.99290090e-02 1.43426936e+02] [-4.32466376e-01 9.01239340e-01 -2.72118780e-02 -3.48627338e+01] [-6.58018106e-02 -1.44711511e-03 9.97831663e-01 -1.53005007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.527719421 meters 0.05688641184896609 Centerline is valid? [True, True] Translation: X:143.45, Y:-34.87, Z:-15.31 [[ 8.98825952e-01 4.34238101e-01 5.95749915e-02 1.43452948e+02] [-4.33397506e-01 9.00796868e-01 -2.70481985e-02 -3.48712110e+01] [-6.54103241e-02 -1.50803000e-03 9.97857312e-01 -1.53052291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.557719421 meters 0.057931459071287335 Centerline is valid? [True, True] Translation: X:143.48, Y:-34.88, Z:-15.31 [[ 8.97551024e-01 4.37060027e-01 5.81437210e-02 1.43481504e+02] [-4.36265908e-01 8.99430768e-01 -2.63884718e-02 -3.48797530e+01] [-6.38295978e-02 -1.68112328e-03 9.97959396e-01 -1.53094474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.587719421 meters 0.05846434694841434 Centerline is valid? [True, True] Translation: X:143.51, Y:-34.89, Z:-15.31 [[ 8.97012094e-01 4.38162662e-01 5.81617192e-02 1.43507972e+02] [-4.37369869e-01 8.98893992e-01 -2.64043533e-02 -3.48902202e+01] [-6.38506217e-02 -1.75315923e-03 9.97957927e-01 -1.53123356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.617719421 meters 0.059797417509801096 Centerline is valid? [True, True] Translation: X:143.53, Y:-34.90, Z:-15.31 [[ 8.95171930e-01 4.41658900e-01 6.00385825e-02 1.43534914e+02] [-4.40823389e-01 8.97180616e-01 -2.72338224e-02 -3.49015555e+01] [-6.58935125e-02 -2.08745808e-03 9.97824477e-01 -1.53125325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.647719421 meters 0.06021157448949778 Centerline is valid? [True, True] Translation: X:143.56, Y:-34.91, Z:-15.31 [[ 8.94615719e-01 4.42668250e-01 6.08895350e-02 1.43561148e+02] [-4.41812679e-01 8.96682734e-01 -2.75976591e-02 -3.49136308e+01] [-6.68152022e-02 -2.21246899e-03 9.97762915e-01 -1.53146811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.677719421 meters 0.06104925809681924 Centerline is valid? [True, True] Translation: X:143.59, Y:-34.92, Z:-15.32 [[ 8.92895273e-01 4.46199696e-01 6.03644206e-02 1.43587938e+02] [-4.45368863e-01 8.94929981e-01 -2.73295508e-02 -3.49246351e+01] [-6.62163670e-02 -2.48200667e-03 9.97802201e-01 -1.53182214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.707719421 meters 0.06253544037482708 Centerline is valid? [True, True] Translation: X:143.61, Y:-34.93, Z:-15.32 [[ 8.92126015e-01 4.47675026e-01 6.08132009e-02 1.43613607e+02] [-4.46835352e-01 8.94192510e-01 -2.75304244e-02 -3.49333606e+01] [-6.67033922e-02 -2.61288022e-03 9.97769427e-01 -1.53225481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.737719421 meters 0.06353142225063071 Centerline is valid? [True, True] Translation: X:143.64, Y:-34.95, Z:-15.33 [[ 8.90976267e-01 4.49908596e-01 6.11845333e-02 1.43638481e+02] [-4.49064068e-01 8.93070219e-01 -2.76955950e-02 -3.49478080e+01] [-6.71025708e-02 -2.79965761e-03 9.97742155e-01 -1.53256520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76771942099998 meters 0.06650562056948997 Centerline is valid? [True, True] Translation: X:143.66, Y:-34.96, Z:-15.33 [[ 8.89753422e-01 4.52301700e-01 6.13353024e-02 1.43663055e+02] [-4.51460740e-01 8.91859900e-01 -2.77329811e-02 -3.49616496e+01] [-6.72461712e-02 -3.01496616e-03 9.97731859e-01 -1.53305254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79771942099998 meters 0.06504186822526294 Centerline is valid? [True, True] Translation: X:143.69, Y:-34.98, Z:-15.33 [[ 8.89105294e-01 4.53611367e-01 6.10614767e-02 1.43686822e+02] [-4.52780677e-01 8.91194223e-01 -2.76136859e-02 -3.49793276e+01] [-6.69435171e-02 -3.09598244e-03 9.97751963e-01 -1.53300730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82771942099998 meters 0.06632212600340287 Centerline is valid? [True, True] Translation: X:143.71, Y:-34.99, Z:-15.33 [[ 8.88356318e-01 4.55155833e-01 6.04666778e-02 1.43711768e+02] [-4.54346782e-01 8.90406020e-01 -2.73152040e-02 -3.49919672e+01] [-6.62725683e-02 -3.20720644e-03 9.97796402e-01 -1.53346648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85771942099998 meters 0.06939956371845604 Centerline is valid? [True, True] Translation: X:143.74, Y:-35.01, Z:-15.34 [[ 8.86250456e-01 4.59311484e-01 5.99423839e-02 1.43736887e+02] [-4.58526383e-01 8.88268401e-01 -2.70703430e-02 -3.50056272e+01] [-6.56786449e-02 -3.49406062e-03 9.97834709e-01 -1.53395848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88771942099999 meters 0.07301732035696851 Centerline is valid? [True, True] Translation: X:143.76, Y:-35.02, Z:-15.34 [[ 8.84719390e-01 4.62240444e-01 6.00447544e-02 1.43761559e+02] [-4.61459431e-01 8.86746832e-01 -2.71154871e-02 -3.50197373e+01] [-6.57783705e-02 -3.71862094e-03 9.97827329e-01 -1.53447299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.917719421 meters 0.07189584200653402 Centerline is valid? [True, True] Translation: X:143.79, Y:-35.04, Z:-15.35 [[ 8.84633877e-01 4.62256906e-01 6.11674546e-02 1.43785729e+02] [-4.61446377e-01 8.86737953e-01 -2.76232580e-02 -3.50370303e+01] [-6.70085453e-02 -3.78903050e-03 9.97745207e-01 -1.53454335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.947719421 meters 0.07219592659958946 Centerline is valid? [True, True] Translation: X:143.81, Y:-35.06, Z:-15.34 [[ 8.84699239e-01 4.61741163e-01 6.40496219e-02 1.43807446e+02] [-4.60853234e-01 8.87005893e-01 -2.88936478e-02 -3.50589854e+01] [-7.01537786e-02 -3.95528717e-03 9.97528347e-01 -1.53449708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.977719421 meters 0.0713288737015377 Centerline is valid? [True, True] Translation: X:143.83, Y:-35.08, Z:-15.35 [[ 8.84876757e-01 4.61263264e-01 6.50332773e-02 1.43829801e+02] [-4.60346349e-01 8.87254415e-01 -2.93400999e-02 -3.50787089e+01] [-7.12345726e-02 -3.97545931e-03 9.97451669e-01 -1.53458496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.007719421 meters 0.07230247227991263 Centerline is valid? [True, True] Translation: X:143.85, Y:-35.09, Z:-15.35 [[ 8.84913433e-01 4.61143424e-01 6.53831672e-02 1.43852376e+02] [-4.60218039e-01 8.87316556e-01 -2.94734772e-02 -3.50948336e+01] [-7.16070669e-02 -4.00903706e-03 9.97424862e-01 -1.53486964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.037719421 meters 0.07167333976357554 Centerline is valid? [True, True] Translation: X:143.87, Y:-35.12, Z:-15.35 [[ 8.85179888e-01 4.60707472e-01 6.48474504e-02 1.43872862e+02] [-4.59797480e-01 8.87543211e-01 -2.92117447e-02 -3.51179428e+01] [-7.10129834e-02 -3.95904542e-03 9.97467534e-01 -1.53522129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.067719421 meters 0.07345586077023677 Centerline is valid? [True, True] Translation: X:143.90, Y:-35.13, Z:-15.36 [[ 8.84958158e-01 4.61249118e-01 6.40180338e-02 1.43896852e+02] [-4.60364184e-01 8.87261850e-01 -2.88310248e-02 -3.51305950e+01] [-7.00990439e-02 -3.95735925e-03 9.97532187e-01 -1.53570028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.097719421 meters 0.07647839407276061 Centerline is valid? [True, True] Translation: X:143.92, Y:-35.15, Z:-15.36 [[ 8.83829788e-01 4.63712735e-01 6.17689721e-02 1.43921004e+02] [-4.62896122e-01 8.85976480e-01 -2.78002969e-02 -3.51465848e+01] [-6.76172082e-02 -4.02188717e-03 9.97703231e-01 -1.53645158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.127719421 meters 0.07960592136006144 Centerline is valid? [True, True] Translation: X:143.94, Y:-35.16, Z:-15.37 [[ 8.82315918e-01 4.66698001e-01 6.09228768e-02 1.43944897e+02] [-4.65910791e-01 8.84406802e-01 -2.74179426e-02 -3.51627739e+01] [-6.66765056e-02 -4.19333845e-03 9.97765834e-01 -1.53687703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.157719421 meters 0.07982244301577497 Centerline is valid? [True, True] Translation: X:143.97, Y:-35.18, Z:-15.37 [[ 8.81972331e-01 4.67298089e-01 6.12968501e-02 1.43969431e+02] [-4.66502086e-01 8.84089570e-01 -2.75941400e-02 -3.51790944e+01] [-6.70865947e-02 -4.25784045e-03 9.97738072e-01 -1.53705069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.187719421 meters 0.08167776432842348 Centerline is valid? [True, True] Translation: X:143.99, Y:-35.20, Z:-15.37 [[ 8.81178606e-01 4.68747473e-01 6.16447196e-02 1.43992567e+02] [-4.67947791e-01 8.83321172e-01 -2.77231407e-02 -3.51969716e+01] [-6.74472381e-02 -4.41747191e-03 9.97713063e-01 -1.53732290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.217719421 meters 0.08209622044633344 Centerline is valid? [True, True] Translation: X:144.02, Y:-35.21, Z:-15.38 [[ 8.81103140e-01 4.68998080e-01 6.08116605e-02 1.44016874e+02] [-4.68220643e-01 8.83188331e-01 -2.73459470e-02 -3.52113912e+01] [-6.65333456e-02 -4.37867505e-03 9.97774594e-01 -1.53774088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.247719421 meters 0.07656424899696247 Centerline is valid? [True, True] Translation: X:144.04, Y:-35.24, Z:-15.38 [[ 8.80783048e-01 4.69721198e-01 5.98599951e-02 1.44037683e+02] [-4.68970143e-01 8.82803992e-01 -2.69094114e-02 -3.52388143e+01] [-6.54845636e-02 -4.37119710e-03 9.97844008e-01 -1.53770893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.277719421 meters 0.07671524230224709 Centerline is valid? [True, True] Translation: X:144.06, Y:-35.25, Z:-15.38 [[ 8.80965348e-01 4.69335804e-01 6.01993225e-02 1.44062448e+02] [-4.68575399e-01 8.83008958e-01 -2.70605980e-02 -3.52544985e+01] [-6.58570486e-02 -4.36847244e-03 9.97819506e-01 -1.53806008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.307719421 meters 0.07557837912537128 Centerline is valid? [True, True] Translation: X:144.08, Y:-35.28, Z:-15.39 [[ 8.82618696e-01 4.66243757e-01 6.00083049e-02 1.44084088e+02] [-4.65481649e-01 8.84646643e-01 -2.69657380e-02 -3.52777978e+01] [-6.56587525e-02 -4.13230024e-03 9.97833579e-01 -1.53855949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.337719421 meters 0.07114601873776881 Centerline is valid? [True, True] Translation: X:144.10, Y:-35.31, Z:-15.39 [[ 8.86306799e-01 4.59147161e-01 6.03667431e-02 1.44104920e+02] [-4.58359521e-01 8.88352816e-01 -2.71260915e-02 -3.53069051e+01] [-6.60818341e-02 -3.62763215e-03 9.97807612e-01 -1.53883091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.367719421 meters 0.0690244184672282 Centerline is valid? [True, True] Translation: X:144.13, Y:-35.33, Z:-15.39 [[ 8.88436156e-01 4.55102358e-01 5.96912123e-02 1.44128849e+02] [-4.54323019e-01 8.90433062e-01 -2.68245449e-02 -3.53273842e+01] [-6.53589426e-02 -3.28719627e-03 9.97856404e-01 -1.53925382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.397719421 meters 0.07080049496576206 Centerline is valid? [True, True] Translation: X:144.15, Y:-35.34, Z:-15.40 [[ 8.91090425e-01 4.49801884e-01 6.03002518e-02 1.44154948e+02] [-4.48994376e-01 8.93123563e-01 -2.70989215e-02 -3.53402193e+01] [-6.60447217e-02 -2.92688445e-03 9.97812371e-01 -1.54019563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.427719421 meters 0.06086016476838743 Centerline is valid? [True, True] Translation: X:144.17, Y:-35.38, Z:-15.39 [[ 8.96394978e-01 4.38698771e-01 6.33989884e-02 1.44171880e+02] [-4.37778362e-01 8.98631444e-01 -2.84891884e-02 -3.53798181e+01] [-6.94704964e-02 -2.21713984e-03 9.97581543e-01 -1.53941559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.457719421 meters 0.058246987186717177 Centerline is valid? [True, True] Translation: X:144.19, Y:-35.40, Z:-15.40 [[ 8.99541881e-01 4.32047947e-01 6.44901132e-02 1.44194876e+02] [-4.31078420e-01 9.01848974e-01 -2.89797202e-02 -3.54031433e+01] [-7.06809711e-02 -1.73182407e-03 9.97497469e-01 -1.53955012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.487719421 meters 0.05508036495713533 Centerline is valid? [True, True] Translation: X:144.21, Y:-35.43, Z:-15.40 [[ 9.04562375e-01 4.21122953e-01 6.65008897e-02 1.44213814e+02] [-4.20062134e-01 9.07003113e-01 -2.98857303e-02 -3.54334449e+01] [-7.29020809e-02 -9.00998502e-04 9.97338696e-01 -1.53960595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51771942099998 meters 0.054406533444758313 Centerline is valid? [True, True] Translation: X:144.24, Y:-35.45, Z:-15.40 [[ 9.06266930e-01 4.17303100e-01 6.73674634e-02 1.44240811e+02] [-4.16204131e-01 9.08767164e-01 -3.02715033e-02 -3.54526613e+01] [-7.38537308e-02 -6.04554187e-04 9.97268901e-01 -1.53985475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54771942099998 meters 0.05350549890642222 Centerline is valid? [True, True] Translation: X:144.27, Y:-35.47, Z:-15.40 [[ 9.07757840e-01 4.13832119e-01 6.86926550e-02 1.44267438e+02] [-4.12679324e-01 9.10353157e-01 -3.08691499e-02 -3.54726912e+01] [-7.53092211e-02 -3.26325577e-04 9.97160175e-01 -1.53951451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57771942099998 meters 0.0536286381851414 Centerline is valid? [True, True] Translation: X:144.30, Y:-35.49, Z:-15.40 [[ 9.07285083e-01 4.14894941e-01 6.85271187e-02 1.44295894e+02] [-4.13748957e-01 9.09869240e-01 -3.08182862e-02 -3.54869741e+01] [-7.51370685e-02 -3.92052490e-04 9.97173138e-01 -1.53984315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60771942099998 meters 0.05383378898755131 Centerline is valid? [True, True] Translation: X:144.32, Y:-35.50, Z:-15.40 [[ 9.07030194e-01 4.15595439e-01 6.76510001e-02 1.44324618e+02] [-4.14478636e-01 9.09549479e-01 -3.04500532e-02 -3.54997019e+01] [-7.41868351e-02 -4.20776597e-04 9.97244271e-01 -1.54027713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63771942099999 meters 0.053963671249804175 Centerline is valid? [True, True] Translation: X:144.35, Y:-35.51, Z:-15.41 [[ 9.06524284e-01 4.16846908e-01 6.67261465e-02 1.44354692e+02] [-4.15762223e-01 9.08976573e-01 -3.00560160e-02 -3.55099144e+01] [-7.31812613e-02 -4.95702620e-04 9.97318534e-01 -1.54084895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.667719421 meters 0.05409161728262426 Centerline is valid? [True, True] Translation: X:144.38, Y:-35.52, Z:-15.41 [[ 9.06023097e-01 4.18121018e-01 6.55512189e-02 1.44384235e+02] [-4.17075874e-01 9.08391156e-01 -2.95503328e-02 -3.55207421e+01] [-7.19017628e-02 -5.66547882e-04 9.97411558e-01 -1.54130022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.697719421 meters 0.05449099441537848 Centerline is valid? [True, True] Translation: X:144.41, Y:-35.53, Z:-15.42 [[ 9.04818468e-01 4.20746777e-01 6.53887640e-02 1.44413779e+02] [-4.19711789e-01 9.07177815e-01 -2.95029926e-02 -3.55292896e+01] [-7.17325251e-02 -7.49582560e-04 9.97423623e-01 -1.54181316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.727719421 meters 0.05449099441537848 Centerline is valid? [True, True] Translation: X:144.44, Y:-35.54, Z:-15.42 [[ 9.04677607e-01 4.21049966e-01 6.53861824e-02 1.44443088e+02] [-4.20015355e-01 9.07037120e-01 -2.95087151e-02 -3.55427927e+01] [-7.17323380e-02 -7.67326828e-04 9.97423623e-01 -1.54214579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.757719421 meters 0.054504133368600834 Centerline is valid? [True, True] Translation: X:144.47, Y:-35.55, Z:-15.42 [[ 9.03571886e-01 4.23398337e-01 6.55110359e-02 1.44472914e+02] [-4.22363935e-01 9.05943145e-01 -2.95926304e-02 -3.55549305e+01] [-7.18787444e-02 -9.30430044e-04 9.97412944e-01 -1.54218047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.787719421 meters 0.05608015822898351 Centerline is valid? [True, True] Translation: X:144.50, Y:-35.56, Z:-15.43 [[ 9.00813108e-01 4.29515598e-01 6.36560657e-02 1.44503125e+02] [-4.28551925e-01 9.03058433e-01 -2.87873911e-02 -3.55605226e+01] [-6.98497805e-02 -1.34787026e-03 9.97556611e-01 -1.54264682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.817719421 meters 0.05835035139215193 Centerline is valid? [True, True] Translation: X:144.54, Y:-35.56, Z:-15.43 [[ 8.96686695e-01 4.38231416e-01 6.24995697e-02 1.44535689e+02] [-4.37323389e-01 8.98859988e-01 -2.82661325e-02 -3.55618741e+01] [-6.85654698e-02 -1.98665875e-03 9.97644641e-01 -1.54309009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.847719421 meters 0.06067592743997739 Centerline is valid? [True, True] Translation: X:144.57, Y:-35.57, Z:-15.44 [[ 8.93897151e-01 4.43710836e-01 6.37854010e-02 1.44567937e+02] [-4.42779430e-01 8.96166630e-01 -2.88400368e-02 -3.55652251e+01] [-6.99589847e-02 -2.46283678e-03 9.97546828e-01 -1.54367082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.877719421 meters 0.06336683033350748 Centerline is valid? [True, True] Translation: X:144.60, Y:-35.57, Z:-15.44 [[ 8.88965720e-01 4.53209912e-01 6.58841726e-02 1.44600771e+02] [-4.52239753e-01 8.91397765e-01 -2.98199777e-02 -3.55670122e+01] [-7.22437137e-02 -3.28650394e-03 9.97381594e-01 -1.54372493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.907719421 meters 0.06489962651609425 Centerline is valid? [True, True] Translation: X:144.63, Y:-35.58, Z:-15.44 [[ 8.87494535e-01 4.56012718e-01 6.63765914e-02 1.44630626e+02] [-4.55036019e-01 8.89966203e-01 -3.00396210e-02 -3.55761720e+01] [-7.27713723e-02 -3.54374040e-03 9.97342353e-01 -1.54401447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.937719421 meters 0.06594682849362767 Centerline is valid? [True, True] Translation: X:144.66, Y:-35.59, Z:-15.44 [[ 8.86536537e-01 4.57843699e-01 6.65741439e-02 1.44660296e+02] [-4.56865848e-01 8.89025006e-01 -3.01352837e-02 -3.55877122e+01] [-7.29833284e-02 -3.69942266e-03 9.97326300e-01 -1.54423152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.967719421 meters 0.06575660769239122 Centerline is valid? [True, True] Translation: X:144.69, Y:-35.60, Z:-15.44 [[ 8.86064217e-01 4.58831598e-01 6.60588316e-02 1.44689125e+02] [-4.57869929e-01 8.88515415e-01 -2.99246489e-02 -3.56025727e+01] [-7.24246647e-02 -3.73119194e-03 9.97366906e-01 -1.54441228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.997719421 meters 0.06741442022713995 Centerline is valid? [True, True] Translation: X:144.72, Y:-35.61, Z:-15.45 [[ 8.85993321e-01 4.59167673e-01 6.46597459e-02 1.44718092e+02] [-4.58245592e-01 8.88342089e-01 -2.93140010e-02 -3.56122117e+01] [-7.09000154e-02 -3.65803435e-03 9.97476720e-01 -1.54511760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.027719421 meters 0.0656741374465445 Centerline is valid? [True, True] Translation: X:144.75, Y:-35.63, Z:-15.45 [[ 8.86325449e-01 4.58549045e-01 6.44978387e-02 1.44745781e+02] [-4.57628497e-01 8.88661886e-01 -2.92610706e-02 -3.56278413e+01] [-7.07344069e-02 -3.58121744e-03 9.97488756e-01 -1.54544290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.057719421 meters 0.06637549346167387 Centerline is valid? [True, True] Translation: X:144.77, Y:-35.64, Z:-15.46 [[ 8.86759279e-01 4.57400677e-01 6.66528413e-02 1.44774189e+02] [-4.56411861e-01 8.89253521e-01 -3.02719252e-02 -3.56383357e+01] [-7.31176729e-02 -3.57723676e-03 9.97316905e-01 -1.54585306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.087719421 meters 0.06616369605677097 Centerline is valid? [True, True] Translation: X:144.80, Y:-35.65, Z:-15.46 [[ 8.87248992e-01 4.56392979e-01 6.70423358e-02 1.44801651e+02] [-4.55390127e-01 8.89771352e-01 -3.04429559e-02 -3.56529571e+01] [-7.35463011e-02 -3.51993589e-03 9.97285592e-01 -1.54619987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.117719421 meters 0.0653943786382011 Centerline is valid? [True, True] Translation: X:144.83, Y:-35.67, Z:-15.47 [[ 8.88457304e-01 4.54114623e-01 6.65096130e-02 1.44827021e+02] [-4.53119305e-01 8.90937230e-01 -3.02282501e-02 -3.56731947e+01] [-7.29829808e-02 -3.28027998e-03 9.97327792e-01 -1.54657476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.147719421 meters 0.063994632158569 Centerline is valid? [True, True] Translation: X:144.85, Y:-35.69, Z:-15.47 [[ 8.88776898e-01 4.53691761e-01 6.51107701e-02 1.44854212e+02] [-4.52737106e-01 8.91152999e-01 -2.95879278e-02 -3.56933359e+01] [-7.14474571e-02 -3.18099496e-03 9.97439292e-01 -1.54677104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.177719421 meters 0.06283015202090513 Centerline is valid? [True, True] Translation: X:144.88, Y:-35.71, Z:-15.47 [[ 8.89305680e-01 4.52830150e-01 6.38769355e-02 1.44879911e+02] [-4.51907340e-01 8.91591654e-01 -2.90530246e-02 -3.57135926e+01] [-7.01082281e-02 -3.02943624e-03 9.97534791e-01 -1.54710618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.207719421 meters 0.06395817979442339 Centerline is valid? [True, True] Translation: X:144.91, Y:-35.73, Z:-15.48 [[ 8.89430601e-01 4.52481980e-01 6.46008102e-02 1.44908747e+02] [-4.51535261e-01 8.91768460e-01 -2.94095365e-02 -3.57252762e+01] [-7.09162504e-02 -3.01180197e-03 9.97477726e-01 -1.54767175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.237719421 meters 0.06312417905367311 Centerline is valid? [True, True] Translation: X:144.94, Y:-35.74, Z:-15.48 [[ 8.88898179e-01 4.53229934e-01 6.66532436e-02 1.44935761e+02] [-4.52223098e-01 8.91388053e-01 -3.03580124e-02 -3.57448334e+01] [-7.31730650e-02 -3.15695439e-03 9.97314262e-01 -1.54775591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26771942099998 meters 0.06344822926743819 Centerline is valid? [True, True] Translation: X:144.96, Y:-35.76, Z:-15.48 [[ 8.88730678e-01 4.53416553e-01 6.76107421e-02 1.44962713e+02] [-4.52380376e-01 8.91292953e-01 -3.08036869e-02 -3.57605179e+01] [-7.42278795e-02 -3.20959138e-03 9.97236141e-01 -1.54804423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29771942099998 meters 0.061997553490969824 Centerline is valid? [True, True] Translation: X:144.99, Y:-35.78, Z:-15.48 [[ 8.88233869e-01 4.54312628e-01 6.81221722e-02 1.44989784e+02] [-4.53261854e-01 8.90836236e-01 -3.10562772e-02 -3.57823609e+01] [-7.47949584e-02 -3.29194479e-03 9.97193500e-01 -1.54784461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32771942099998 meters 0.062394280580953115 Centerline is valid? [True, True] Translation: X:145.02, Y:-35.80, Z:-15.48 [[ 8.87320466e-01 4.55979177e-01 6.88867222e-02 1.45018339e+02] [-4.54907394e-01 8.89983778e-01 -3.14346500e-02 -3.57971217e+01] [-7.56416111e-02 -3.44447098e-03 9.97129120e-01 -1.54809155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35771942099998 meters 0.06274625631725111 Centerline is valid? [True, True] Translation: X:145.04, Y:-35.81, Z:-15.48 [[ 8.85947028e-01 4.58803783e-01 6.78008254e-02 1.45044222e+02] [-4.57771388e-01 8.88530326e-01 -3.09712073e-02 -3.58133196e+01] [-7.44527965e-02 -3.59842894e-03 9.97218047e-01 -1.54836322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38771942099999 meters 0.06444620121051205 Centerline is valid? [True, True] Translation: X:145.07, Y:-35.82, Z:-15.49 [[ 8.83755594e-01 4.63259211e-01 6.60829283e-02 1.45072873e+02] [-4.62290766e-01 8.86214377e-01 -3.01881623e-02 -3.58236763e+01] [-7.25485854e-02 -3.87057026e-03 9.97357369e-01 -1.54905178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.417719421 meters 0.06885901109892426 Centerline is valid? [True, True] Translation: X:145.10, Y:-35.83, Z:-15.50 [[ 8.82438883e-01 4.65730010e-01 6.63111925e-02 1.45103221e+02] [-4.64761681e-01 8.84917431e-01 -3.02939085e-02 -3.58289086e+01] [-7.27887124e-02 -4.08637855e-03 9.97339012e-01 -1.54968362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.447719421 meters 0.070266955563062 Centerline is valid? [True, True] Translation: X:145.13, Y:-35.84, Z:-15.50 [[ 8.80502203e-01 4.69403254e-01 6.61547787e-02 1.45130847e+02] [-4.68449684e-01 8.82973056e-01 -3.02237657e-02 -3.58424827e+01] [-7.26000210e-02 -4.37809289e-03 9.97351527e-01 -1.54986678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.477719421 meters 0.07030475841376024 Centerline is valid? [True, True] Translation: X:145.16, Y:-35.86, Z:-15.50 [[ 8.79598004e-01 4.71083827e-01 6.62372968e-02 1.45158808e+02] [-4.70132968e-01 8.82076831e-01 -3.02565076e-02 -3.58574076e+01] [-7.26797363e-02 -4.52677319e-03 9.97345058e-01 -1.55007383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.507719421 meters 0.07176097542976467 Centerline is valid? [True, True] Translation: X:145.19, Y:-35.87, Z:-15.50 [[ 8.78951695e-01 4.71941698e-01 6.86655000e-02 1.45186869e+02] [-4.70920534e-01 8.81616988e-01 -3.13900919e-02 -3.58703174e+01] [-7.53509645e-02 -4.74561945e-03 9.97145782e-01 -1.55040137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.537719421 meters 0.06638770288662754 Centerline is valid? [True, True] Translation: X:145.21, Y:-35.89, Z:-15.50 [[ 8.79003086e-01 4.71700505e-01 6.96577974e-02 1.45211164e+02] [-4.70648134e-01 8.81745843e-01 -3.18528324e-02 -3.58948083e+01] [-7.64454704e-02 -4.78557435e-03 9.97062279e-01 -1.55021425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.567719421 meters 0.06898270911536375 Centerline is valid? [True, True] Translation: X:145.24, Y:-35.91, Z:-15.51 [[ 8.79181286e-01 4.71392148e-01 6.94961080e-02 1.45240450e+02] [-4.70341855e-01 8.81911053e-01 -3.18030571e-02 -3.59057863e+01] [-7.62810972e-02 -4.72627571e-03 9.97075151e-01 -1.55079908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.597719421 meters 0.06877385823612375 Centerline is valid? [True, True] Translation: X:145.27, Y:-35.93, Z:-15.51 [[ 8.79567878e-01 4.70895564e-01 6.79537770e-02 1.45267022e+02] [-4.69888305e-01 8.82177182e-01 -3.11191391e-02 -3.59255768e+01] [-7.46011361e-02 -4.55928989e-03 9.97203030e-01 -1.55125976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.627719421 meters 0.06735688014785293 Centerline is valid? [True, True] Translation: X:145.29, Y:-35.95, Z:-15.52 [[ 8.79125524e-01 4.71829656e-01 6.71944075e-02 1.45292618e+02] [-4.70845602e-01 8.81677917e-01 -3.07972267e-02 -3.59460997e+01] [-7.37748701e-02 -4.56356324e-03 9.97264480e-01 -1.55155328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.657719421 meters 0.06884626066131108 Centerline is valid? [True, True] Translation: X:145.32, Y:-35.96, Z:-15.52 [[ 8.78350411e-01 4.73215861e-01 6.75818324e-02 1.45320118e+02] [-4.72222211e-01 8.80934076e-01 -3.10054384e-02 -3.59590746e+01] [-7.42074043e-02 -4.68000268e-03 9.97231848e-01 -1.55188161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.687719421 meters 0.07204160073700695 Centerline is valid? [True, True] Translation: X:145.35, Y:-35.97, Z:-15.52 [[ 8.77679694e-01 4.74095378e-01 7.00851479e-02 1.45348378e+02] [-4.73029650e-01 8.80459671e-01 -3.21514983e-02 -3.59721877e+01] [-7.69500229e-02 -4.93363581e-03 9.97022745e-01 -1.55207923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.717719421 meters 0.06771281687917846 Centerline is valid? [True, True] Translation: X:145.37, Y:-36.00, Z:-15.52 [[ 8.77569348e-01 4.74197904e-01 7.07699639e-02 1.45372535e+02] [-4.73109886e-01 8.80404239e-01 -3.24871002e-02 -3.59958821e+01] [-7.77114910e-02 -4.97228619e-03 9.96963490e-01 -1.55209432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.747719421 meters 0.06952301865393613 Centerline is valid? [True, True] Translation: X:145.40, Y:-36.01, Z:-15.53 [[ 8.78379255e-01 4.72438679e-01 7.24677726e-02 1.45399067e+02] [-4.71289282e-01 8.81349895e-01 -3.32982778e-02 -3.60110597e+01] [-7.96008582e-02 -4.90476809e-03 9.96814750e-01 -1.55259076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.777719421 meters 0.0657113880946942 Centerline is valid? [True, True] Translation: X:145.42, Y:-36.04, Z:-15.53 [[ 8.80228940e-01 4.68865638e-01 7.32258543e-02 1.45421117e+02] [-4.67679408e-01 8.83257388e-01 -3.36505343e-02 -3.60364451e+01] [-8.04548560e-02 -4.62605010e-03 9.96747519e-01 -1.55278573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.807719421 meters 0.06813670537705153 Centerline is valid? [True, True] Translation: X:145.45, Y:-36.05, Z:-15.53 [[ 8.80837525e-01 4.67774785e-01 7.28835058e-02 1.45450134e+02] [-4.66596203e-01 8.83836199e-01 -3.34896500e-02 -3.60477610e+01] [-8.00826945e-02 -4.50822663e-03 9.96778028e-01 -1.55344786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.837719421 meters 0.06693148621670175 Centerline is valid? [True, True] Translation: X:145.48, Y:-36.07, Z:-15.54 [[ 8.81365119e-01 4.66787337e-01 7.28361821e-02 1.45477309e+02] [-4.65604936e-01 8.84358682e-01 -3.34927571e-02 -3.60655096e+01] [-8.00473049e-02 -4.39353807e-03 9.96781383e-01 -1.55383776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.867719421 meters 0.06471270747447773 Centerline is valid? [True, True] Translation: X:145.50, Y:-36.09, Z:-15.54 [[ 8.81677873e-01 4.66473364e-01 7.10403327e-02 1.45502837e+02] [-4.65345964e-01 8.84525092e-01 -3.26878413e-02 -3.60892280e+01] [-7.80849641e-02 -4.23818569e-03 9.96937699e-01 -1.55410189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.897719421 meters 0.06732189977787172 Centerline is valid? [True, True] Translation: X:145.53, Y:-36.10, Z:-15.55 [[ 8.81865213e-01 4.66269817e-01 7.00443004e-02 1.45531609e+02] [-4.65171100e-01 8.84632888e-01 -3.22567902e-02 -3.61023705e+01] [-7.70038595e-02 -4.13644309e-03 9.97022214e-01 -1.55470922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.927719421 meters 0.06556316156405416 Centerline is valid? [True, True] Translation: X:145.56, Y:-36.12, Z:-15.55 [[ 8.81626592e-01 4.66714044e-01 7.00896103e-02 1.45559562e+02] [-4.65613380e-01 8.84398513e-01 -3.23024810e-02 -3.61211141e+01] [-7.70631686e-02 -4.15593413e-03 9.97017551e-01 -1.55492934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.957719421 meters 0.06662495584639412 Centerline is valid? [True, True] Translation: X:145.59, Y:-36.13, Z:-15.55 [[ 8.81048216e-01 4.67712077e-01 7.07068111e-02 1.45587419e+02] [-4.66592873e-01 8.83870638e-01 -3.26157258e-02 -3.61340446e+01] [-7.77504431e-02 -4.25526706e-03 9.96963771e-01 -1.55531842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.987719421 meters 0.06782491709685903 Centerline is valid? [True, True] Translation: X:145.62, Y:-36.15, Z:-15.56 [[ 8.80275048e-01 4.69269818e-01 7.00119806e-02 1.45615135e+02] [-4.68175786e-01 8.83044214e-01 -3.23163924e-02 -3.61469708e+01] [-7.69887820e-02 -4.33060012e-03 9.97022554e-01 -1.55570252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01771942099998 meters 0.0678807159568036 Centerline is valid? [True, True] Translation: X:145.64, Y:-36.16, Z:-15.56 [[ 8.80128109e-01 4.69673894e-01 6.91443814e-02 1.45643036e+02] [-4.68606560e-01 8.82829539e-01 -3.19358100e-02 -3.61631455e+01] [-7.60421187e-02 -4.29390668e-03 9.97095361e-01 -1.55604246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04771942099998 meters 0.06819225922507648 Centerline is valid? [True, True] Translation: X:145.67, Y:-36.18, Z:-15.56 [[ 8.80083912e-01 4.69811143e-01 6.87735214e-02 1.45671045e+02] [-4.68754063e-01 8.82756653e-01 -3.17855273e-02 -3.61814016e+01] [-7.56434785e-02 -4.26393630e-03 9.97125811e-01 -1.55647396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07771942099998 meters 0.06752675075330047 Centerline is valid? [True, True] Translation: X:145.70, Y:-36.20, Z:-15.57 [[ 8.80969809e-01 4.68098309e-01 6.91098290e-02 1.45696435e+02] [-4.67023067e-01 8.83666850e-01 -3.19742575e-02 -3.62005108e+01] [-7.60371608e-02 -4.10752880e-03 9.97096524e-01 -1.55688334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10771942099998 meters 0.06658670643392059 Centerline is valid? [True, True] Translation: X:145.72, Y:-36.22, Z:-15.57 [[ 8.81981638e-01 4.66078960e-01 6.98483613e-02 1.45722985e+02] [-4.64974030e-01 8.84734209e-01 -3.23192044e-02 -3.62178086e+01] [-7.68605358e-02 -3.97272923e-03 9.97033939e-01 -1.55709645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13771942099999 meters 0.06416650612238854 Centerline is valid? [True, True] Translation: X:145.75, Y:-36.24, Z:-15.57 [[ 8.84483913e-01 4.60991682e-01 7.19366091e-02 1.45745886e+02] [-4.59802488e-01 8.87397021e-01 -3.32896177e-02 -3.62395205e+01] [-7.91825696e-02 -3.63250046e-03 9.96853513e-01 -1.55718662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.167719421 meters 0.06096183056713859 Centerline is valid? [True, True] Translation: X:145.77, Y:-36.26, Z:-15.57 [[ 8.86188652e-01 4.57791101e-01 7.13931450e-02 1.45770810e+02] [-4.56609512e-01 8.89053585e-01 -3.30375077e-02 -3.62620286e+01] [-7.85966085e-02 -3.32132477e-03 9.96900969e-01 -1.55730183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.197719421 meters 0.06006863626452278 Centerline is valid? [True, True] Translation: X:145.79, Y:-36.28, Z:-15.58 [[ 8.89552874e-01 4.51043881e-01 7.24920801e-02 1.45794544e+02] [-4.49802670e-01 8.92497505e-01 -3.35523630e-02 -3.62824662e+01] [-7.98325887e-02 -2.76053022e-03 9.96804463e-01 -1.55767405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.227719421 meters 0.05699750836225354 Centerline is valid? [True, True] Translation: X:145.82, Y:-36.31, Z:-15.58 [[ 8.91255499e-01 4.47491018e-01 7.35895723e-02 1.45819035e+02] [-4.46199756e-01 8.94284991e-01 -3.40607387e-02 -3.63053147e+01] [-8.10519246e-02 -2.47882851e-03 9.96706798e-01 -1.55758310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.257719421 meters 0.05554730099804346 Centerline is valid? [True, True] Translation: X:145.84, Y:-36.32, Z:-15.58 [[ 8.94041032e-01 4.41632333e-01 7.51765652e-02 1.45844078e+02] [-4.40263453e-01 8.97193930e-01 -3.48014974e-02 -3.63236418e+01] [-8.28174245e-02 -1.98352749e-03 9.96562763e-01 -1.55791223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.287719421 meters 0.05531140828623303 Centerline is valid? [True, True] Translation: X:145.87, Y:-36.34, Z:-15.58 [[ 8.94983218e-01 4.39872964e-01 7.42752698e-02 1.45871481e+02] [-4.38530942e-01 8.98058200e-01 -3.43814153e-02 -3.63379772e+01] [-8.18269702e-02 -1.80121438e-03 9.96644923e-01 -1.55840059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.317719421 meters 0.055629727836651446 Centerline is valid? [True, True] Translation: X:145.90, Y:-36.35, Z:-15.59 [[ 8.94412899e-01 4.41234563e-01 7.30590683e-02 1.45900442e+02] [-4.39939038e-01 8.97389851e-01 -3.38393103e-02 -3.63506403e+01] [-8.04935397e-02 -1.87522058e-03 9.96753366e-01 -1.55883110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.347719421 meters 0.056503959813309544 Centerline is valid? [True, True] Translation: X:145.93, Y:-36.36, Z:-15.59 [[ 8.93218574e-01 4.43888403e-01 7.15797861e-02 1.45930153e+02] [-4.42651559e-01 8.96079729e-01 -3.31770380e-02 -3.63606833e+01] [-7.88680977e-02 -2.05055741e-03 9.96882951e-01 -1.55920836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.377719421 meters 0.05761441754548637 Centerline is valid? [True, True] Translation: X:145.96, Y:-36.37, Z:-15.59 [[ 8.89422198e-01 4.51425766e-01 7.17142373e-02 1.45959975e+02] [-4.50206856e-01 8.92304585e-01 -3.32613068e-02 -3.63704333e+01] [-7.90059537e-02 -2.70289671e-03 9.96870480e-01 -1.55908558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.407719421 meters 0.06070991070939152 Centerline is valid? [True, True] Translation: X:145.99, Y:-36.37, Z:-15.60 [[ 8.87555156e-01 4.54804503e-01 7.34759132e-02 1.45991861e+02] [-4.53534856e-01 8.90586042e-01 -3.40974552e-02 -3.63745253e+01] [-8.09442988e-02 -3.06051562e-03 9.96713928e-01 -1.55965954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.437719421 meters 0.062009198844247 Centerline is valid? [True, True] Translation: X:146.02, Y:-36.38, Z:-15.60 [[ 8.84017256e-01 4.61692728e-01 7.31663594e-02 1.46022431e+02] [-4.60454941e-01 8.87032415e-01 -3.39814906e-02 -3.63825256e+01] [-8.05899395e-02 -3.64958765e-03 9.96740659e-01 -1.55988639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.467719421 meters 0.06449300757737672 Centerline is valid? [True, True] Translation: X:146.05, Y:-36.39, Z:-15.60 [[ 8.81183026e-01 4.67282493e-01 7.18578219e-02 1.46052848e+02] [-4.66106695e-01 8.84098648e-01 -3.33785845e-02 -3.63896626e+01] [-7.91266313e-02 -4.08076978e-03 9.96856220e-01 -1.56043999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.497719421 meters 0.06463391265579695 Centerline is valid? [True, True] Translation: X:146.08, Y:-36.40, Z:-15.61 [[ 8.80218574e-01 4.69204528e-01 7.11503599e-02 1.46081752e+02] [-4.68057891e-01 8.83079492e-01 -3.30517951e-02 -3.64033197e+01] [-7.83394756e-02 -4.20968343e-03 9.96917853e-01 -1.56079610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.527719421 meters 0.06767708738742818 Centerline is valid? [True, True] Translation: X:146.11, Y:-36.41, Z:-15.61 [[ 8.79671289e-01 4.70343772e-01 7.03928905e-02 1.46110885e+02] [-4.69224468e-01 8.82473005e-01 -3.27077024e-02 -3.64125787e+01] [-7.75036898e-02 -4.25803982e-03 9.96982972e-01 -1.56138288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.557719421 meters 0.06815844441477108 Centerline is valid? [True, True] Translation: X:146.14, Y:-36.43, Z:-15.62 [[ 8.79446714e-01 4.70767996e-01 7.03631410e-02 1.46138936e+02] [-4.69651196e-01 8.82246586e-01 -3.26912119e-02 -3.64268341e+01] [-7.74676172e-02 -4.29595448e-03 9.96985613e-01 -1.56172132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.587719421 meters 0.06572851968146198 Centerline is valid? [True, True] Translation: X:146.16, Y:-36.45, Z:-15.62 [[ 8.79938968e-01 4.69869396e-01 7.02151205e-02 1.46164962e+02] [-4.68752738e-01 8.82726010e-01 -3.26444869e-02 -3.64468554e+01] [-7.73193585e-02 -4.18837383e-03 9.96997580e-01 -1.56178775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.617719421 meters 0.06540091867073403 Centerline is valid? [True, True] Translation: X:146.19, Y:-36.46, Z:-15.62 [[ 8.80125730e-01 4.69389399e-01 7.10794790e-02 1.46193908e+02] [-4.68241608e-01 8.82981399e-01 -3.30703273e-02 -3.64609859e+01] [-7.82847188e-02 -4.17632359e-03 9.96922294e-01 -1.56212908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.647719421 meters 0.06495750633467585 Centerline is valid? [True, True] Translation: X:146.22, Y:-36.48, Z:-15.62 [[ 8.80947332e-01 4.67723715e-01 7.18771470e-02 1.46221528e+02] [-4.66542170e-01 8.83865453e-01 -3.34703573e-02 -3.64769363e+01] [-7.91846070e-02 -4.04809817e-03 9.96851750e-01 -1.56244376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.677719421 meters 0.06495750633467585 Centerline is valid? [True, True] Translation: X:146.25, Y:-36.49, Z:-15.63 [[ 8.80803739e-01 4.67994158e-01 7.18765682e-02 1.46250708e+02] [-4.66813407e-01 8.83722182e-01 -3.34716025e-02 -3.64907413e+01] [-7.91834321e-02 -4.07103303e-03 9.96851750e-01 -1.56277636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.707719421 meters 0.06526609323968198 Centerline is valid? [True, True] Translation: X:146.28, Y:-36.51, Z:-15.63 [[ 8.80945414e-01 4.67821556e-01 7.12612769e-02 1.46278256e+02] [-4.66658267e-01 8.83813905e-01 -3.32120959e-02 -3.65070149e+01] [-7.85190418e-02 -3.99662038e-03 9.96904603e-01 -1.56314016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.737719421 meters 0.06581466654050201 Centerline is valid? [True, True] Translation: X:146.31, Y:-36.52, Z:-15.64 [[ 8.80549234e-01 4.68610995e-01 7.09702923e-02 1.46306687e+02] [-4.67457770e-01 8.83395444e-01 -3.31016942e-02 -3.65216259e+01] [-7.82066508e-02 -4.02794317e-03 9.96929032e-01 -1.56354361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76771942099998 meters 0.06444681338010844 Centerline is valid? [True, True] Translation: X:146.33, Y:-36.54, Z:-15.64 [[ 8.80317330e-01 4.69163439e-01 7.01930552e-02 1.46333605e+02] [-4.68035399e-01 8.83102240e-01 -3.27612392e-02 -3.65399557e+01] [-7.73580199e-02 -4.01254798e-03 9.96995304e-01 -1.56381040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79771942099998 meters 0.06394373805653109 Centerline is valid? [True, True] Translation: X:146.36, Y:-36.55, Z:-15.64 [[ 8.79671547e-01 4.70311521e-01 7.06048371e-02 1.46362164e+02] [-4.69172018e-01 8.82490864e-01 -3.29771417e-02 -3.65548751e+01] [-7.78176533e-02 -4.11676064e-03 9.96959109e-01 -1.56403433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82771942099998 meters 0.06642109920139379 Centerline is valid? [True, True] Translation: X:146.39, Y:-36.56, Z:-15.65 [[ 8.78342748e-01 4.72788816e-01 7.06027888e-02 1.46392096e+02] [-4.71655388e-01 8.81165209e-01 -3.30010465e-02 -3.65634237e+01] [-7.78152469e-02 -4.31395597e-03 9.96958463e-01 -1.56453575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85771942099998 meters 0.06944648632969677 Centerline is valid? [True, True] Translation: X:146.42, Y:-36.57, Z:-15.65 [[ 8.77734481e-01 4.73881230e-01 7.08432138e-02 1.46421931e+02] [-4.72741745e-01 8.80577751e-01 -3.31370878e-02 -3.65711792e+01] [-7.80860018e-02 -4.40497997e-03 9.96936895e-01 -1.56503115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88771942099999 meters 0.06861417389761987 Centerline is valid? [True, True] Translation: X:146.45, Y:-36.59, Z:-15.65 [[ 8.76818085e-01 4.75508371e-01 7.12869877e-02 1.46449734e+02] [-4.74358532e-01 8.79699361e-01 -3.33619185e-02 -3.65882034e+01] [-7.85749890e-02 -4.56325729e-03 9.96897762e-01 -1.56513197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.917719421 meters 0.06923123364858969 Centerline is valid? [True, True] Translation: X:146.48, Y:-36.60, Z:-15.65 [[ 8.76557615e-01 4.75888429e-01 7.19510313e-02 1.46478420e+02] [-4.74716473e-01 8.79493524e-01 -3.36958658e-02 -3.66020148e+01] [-7.93159387e-02 -4.61997209e-03 9.96838822e-01 -1.56541422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.947719421 meters 0.06639363881800123 Centerline is valid? [True, True] Translation: X:146.50, Y:-36.62, Z:-15.65 [[ 8.76856160e-01 4.75298490e-01 7.22123285e-02 1.46504707e+02] [-4.74113724e-01 8.79812804e-01 -3.38468162e-02 -3.66231003e+01] [-7.96206718e-02 -4.55806670e-03 9.96814814e-01 -1.56544762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.977719421 meters 0.0674116625869264 Centerline is valid? [True, True] Translation: X:146.53, Y:-36.64, Z:-15.66 [[ 8.77332698e-01 4.74568269e-01 7.12200502e-02 1.46532763e+02] [-4.73412482e-01 8.80207609e-01 -3.33944059e-02 -3.66350938e+01] [-7.85363556e-02 -4.41845653e-03 9.96901459e-01 -1.56601515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.007719421 meters 0.06743330910790475 Centerline is valid? [True, True] Translation: X:146.56, Y:-36.65, Z:-15.67 [[ 8.78049330e-01 4.73588366e-01 6.88725899e-02 1.46559437e+02] [-4.72503867e-01 8.80736395e-01 -3.23032203e-02 -3.66512405e+01] [-7.59570259e-02 -4.17874406e-03 9.97102336e-01 -1.56672337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.037719421 meters 0.0671814448184145 Centerline is valid? [True, True] Translation: X:146.59, Y:-36.67, Z:-15.67 [[ 8.78214562e-01 4.73403176e-01 6.80339324e-02 1.46587551e+02] [-4.72342850e-01 8.80836350e-01 -3.19304851e-02 -3.66678681e+01] [-7.50427538e-02 -4.09352453e-03 9.97171915e-01 -1.56708880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.067719421 meters 0.0650685098568409 Centerline is valid? [True, True] Translation: X:146.61, Y:-36.69, Z:-15.67 [[ 8.78837835e-01 4.72278847e-01 6.77993388e-02 1.46613370e+02] [-4.71220544e-01 8.81440301e-01 -3.18464225e-02 -3.66887582e+01] [-7.48014613e-02 -3.96060032e-03 9.97190581e-01 -1.56727583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.097719421 meters 0.06604573798705234 Centerline is valid? [True, True] Translation: X:146.64, Y:-36.70, Z:-15.68 [[ 8.78851224e-01 4.72147723e-01 6.85350572e-02 1.46641348e+02] [-4.71064078e-01 8.81510497e-01 -3.22160981e-02 -3.67023593e+01] [-7.56251298e-02 -3.97124628e-03 9.97128411e-01 -1.56762061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.127719421 meters 0.06656622977610245 Centerline is valid? [True, True] Translation: X:146.67, Y:-36.72, Z:-15.68 [[ 8.78510168e-01 4.72732824e-01 6.88735163e-02 1.46670859e+02] [-4.71638701e-01 8.81196621e-01 -3.23952210e-02 -3.67170561e+01] [-7.60053942e-02 -4.02388473e-03 9.97099287e-01 -1.56796897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.157719421 meters 0.06873978348667076 Centerline is valid? [True, True] Translation: X:146.70, Y:-36.73, Z:-15.68 [[ 8.77976362e-01 4.73640657e-01 6.94408797e-02 1.46700136e+02] [-4.72529095e-01 8.80708590e-01 -3.26899543e-02 -3.67272676e+01] [-7.66404707e-02 -4.11182888e-03 9.97050315e-01 -1.56839852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.187719421 meters 0.06782170613586345 Centerline is valid? [True, True] Translation: X:146.73, Y:-36.74, Z:-15.68 [[ 8.76842818e-01 4.75427516e-01 7.15216777e-02 1.46727266e+02] [-4.74252446e-01 8.79744006e-01 -3.36912773e-02 -3.67446697e+01] [-7.89385275e-02 -4.37737600e-03 9.96869875e-01 -1.56835658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.217719421 meters 0.06933889258013888 Centerline is valid? [True, True] Translation: X:146.76, Y:-36.76, Z:-15.69 [[ 8.75785371e-01 4.77375270e-01 7.15040999e-02 1.46756490e+02] [-4.76205006e-01 8.78687862e-01 -3.37110350e-02 -3.67574850e+01] [-7.89225991e-02 -4.52697900e-03 9.96870468e-01 -1.56874371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.247719421 meters 0.0670728929175334 Centerline is valid? [True, True] Translation: X:146.78, Y:-36.78, Z:-15.69 [[ 8.75400197e-01 4.78059215e-01 7.16511157e-02 1.46783032e+02] [-4.76886292e-01 8.78315579e-01 -3.37817786e-02 -3.67764067e+01] [-7.90819817e-02 -4.59685929e-03 9.96857517e-01 -1.56885871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.277719421 meters 0.06995653534202805 Centerline is valid? [True, True] Translation: X:146.81, Y:-36.79, Z:-15.69 [[ 8.74884313e-01 4.78779135e-01 7.31298815e-02 1.46812030e+02] [-4.77557722e-01 8.77922606e-01 -3.45039029e-02 -3.67882405e+01] [-8.07221250e-02 -4.73681624e-03 9.96725389e-01 -1.56923638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.307719421 meters 0.06733844274579108 Centerline is valid? [True, True] Translation: X:146.84, Y:-36.81, Z:-15.69 [[ 8.75015086e-01 4.78626807e-01 7.25601783e-02 1.46837567e+02] [-4.77421734e-01 8.78006060e-01 -3.42614482e-02 -3.68084288e+01] [-8.01067238e-02 -4.66252213e-03 9.96775388e-01 -1.56945631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.337719421 meters 0.06774932384287248 Centerline is valid? [True, True] Translation: X:146.86, Y:-36.82, Z:-15.70 [[ 8.75393292e-01 4.77956347e-01 7.24176431e-02 1.46864484e+02] [-4.76751743e-01 8.78371700e-01 -3.42188835e-02 -3.68224825e+01] [-7.99647408e-02 -4.57025644e-03 9.96787216e-01 -1.56999185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.367719421 meters 0.0663587026759995 Centerline is valid? [True, True] Translation: X:146.89, Y:-36.84, Z:-15.70 [[ 8.77231995e-01 4.74694093e-01 7.16208388e-02 1.46889579e+02] [-4.73503033e-01 8.80140815e-01 -3.38677306e-02 -3.68418799e+01] [-7.91132351e-02 -4.20282755e-03 9.96856776e-01 -1.57046270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.397719421 meters 0.06390524853912638 Centerline is valid? [True, True] Translation: X:146.91, Y:-36.87, Z:-15.71 [[ 8.79704478e-01 4.70116545e-01 7.14875140e-02 1.46913231e+02] [-4.68914309e-01 8.82596263e-01 -3.38113358e-02 -3.68655498e+01] [-7.89898811e-02 -3.77753476e-03 9.96868261e-01 -1.57082993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.427719421 meters 0.06302566753056235 Centerline is valid? [True, True] Translation: X:146.94, Y:-36.88, Z:-15.71 [[ 8.80769012e-01 4.68254359e-01 7.05960505e-02 1.46940084e+02] [-4.67074488e-01 8.83586592e-01 -3.34089258e-02 -3.68839880e+01] [-7.80215989e-02 -3.54806758e-03 9.96945355e-01 -1.57110180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.457719421 meters 0.061805355557106575 Centerline is valid? [True, True] Translation: X:146.96, Y:-36.90, Z:-15.72 [[ 8.82226191e-01 4.65635627e-01 6.97166545e-02 1.46964970e+02] [-4.64474838e-01 8.84970559e-01 -3.30187106e-02 -3.69036220e+01] [-7.70718747e-02 -3.25166047e-03 9.97020237e-01 -1.57154165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.487719421 meters 0.061299532581411166 Centerline is valid? [True, True] Translation: X:146.99, Y:-36.92, Z:-15.72 [[ 8.82218539e-01 4.65681910e-01 6.95040167e-02 1.46992863e+02] [-4.64527761e-01 8.84946251e-01 -3.29255472e-02 -3.69209573e+01] [-7.68401508e-02 -3.23901714e-03 9.97038164e-01 -1.57192250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51771942099998 meters 0.061683173315342586 Centerline is valid? [True, True] Translation: X:147.02, Y:-36.94, Z:-15.72 [[ 8.82215195e-01 4.65729971e-01 6.92238685e-02 1.47020382e+02] [-4.64583197e-01 8.84921078e-01 -3.28197870e-02 -3.69373965e+01] [-7.65428188e-02 -3.20613130e-03 9.97061140e-01 -1.57228463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54771942099998 meters 0.06143613823258785 Centerline is valid? [True, True] Translation: X:147.05, Y:-36.95, Z:-15.73 [[ 8.81894800e-01 4.66354300e-01 6.91030279e-02 1.47047899e+02] [-4.65211519e-01 8.84592120e-01 -3.27875606e-02 -3.69535367e+01] [-7.64186138e-02 -3.23234532e-03 9.97070583e-01 -1.57250798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57771942099998 meters 0.061942263134953386 Centerline is valid? [True, True] Translation: X:147.08, Y:-36.97, Z:-15.73 [[ 8.81065834e-01 4.68008075e-01 6.84940738e-02 1.47075378e+02] [-4.66888197e-01 8.83717950e-01 -3.25268665e-02 -3.69701614e+01] [-7.57522786e-02 -3.32076384e-03 9.97121138e-01 -1.57284062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60771942099998 meters 0.0637728908891738 Centerline is valid? [True, True] Translation: X:147.10, Y:-36.98, Z:-15.73 [[ 8.79472577e-01 4.71098723e-01 6.77789081e-02 1.47103504e+02] [-4.70011144e-01 8.82073357e-01 -3.21887772e-02 -3.69817346e+01] [-7.49500608e-02 -3.54769534e-03 9.97180978e-01 -1.57339516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63771942099999 meters 0.06445735048675498 Centerline is valid? [True, True] Translation: X:147.13, Y:-36.99, Z:-15.74 [[ 8.78430055e-01 4.72964983e-01 6.82990646e-02 1.47132614e+02] [-4.71864767e-01 8.81073379e-01 -3.24552417e-02 -3.69940659e+01] [-7.55266804e-02 -3.71826243e-03 9.97136849e-01 -1.57372169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.667719421 meters 0.0660520222408265 Centerline is valid? [True, True] Translation: X:147.16, Y:-37.01, Z:-15.74 [[ 8.75873770e-01 4.77158449e-01 7.18676171e-02 1.47162452e+02] [-4.75951698e-01 8.78806923e-01 -3.41814563e-02 -3.70056334e+01] [-7.94677302e-02 -4.26687342e-03 9.96828307e-01 -1.57374808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.697719421 meters 0.06769699846894998 Centerline is valid? [True, True] Translation: X:147.19, Y:-37.02, Z:-15.74 [[ 8.74415390e-01 4.79741321e-01 7.24292100e-02 1.47191022e+02] [-4.78523998e-01 8.77398270e-01 -3.44537243e-02 -3.70174900e+01] [-8.00781387e-02 -4.53224831e-03 9.96778285e-01 -1.57381973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.727719421 meters 0.07090174850879175 Centerline is valid? [True, True] Translation: X:147.22, Y:-37.03, Z:-15.74 [[ 8.71933690e-01 4.84127859e-01 7.31563861e-02 1.47220069e+02] [-4.82900582e-01 8.74983111e-01 -3.48078106e-02 -3.70277973e+01] [-8.08620331e-02 -4.97715874e-03 9.96712877e-01 -1.57399310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.757719421 meters 0.07118608219357198 Centerline is valid? [True, True] Translation: X:147.25, Y:-37.04, Z:-15.74 [[ 8.71254599e-01 4.85291674e-01 7.35351251e-02 1.47249183e+02] [-4.84055093e-01 8.74337426e-01 -3.49961623e-02 -3.70415930e+01] [-8.12778583e-02 -5.10448452e-03 9.96678411e-01 -1.57430586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.787719421 meters 0.07224302592618845 Centerline is valid? [True, True] Translation: X:147.28, Y:-37.06, Z:-15.75 [[ 8.70495121e-01 4.86602405e-01 7.38670658e-02 1.47278014e+02] [-4.85356976e-01 8.73607917e-01 -3.51825723e-02 -3.70555138e+01] [-8.16507777e-02 -5.22563816e-03 9.96647301e-01 -1.57487268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.817719421 meters 0.07243143982471124 Centerline is valid? [True, True] Translation: X:147.31, Y:-37.07, Z:-15.75 [[ 8.70598922e-01 4.86419990e-01 7.38451846e-02 1.47305561e+02] [-4.85174435e-01 8.73709623e-01 -3.51747454e-02 -3.70707567e+01] [-8.16289477e-02 -5.20470034e-03 9.96649199e-01 -1.57528244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.847719421 meters 0.07172066878315649 Centerline is valid? [True, True] Translation: X:147.33, Y:-37.09, Z:-15.76 [[ 8.71769420e-01 4.84306613e-01 7.39268786e-02 1.47329828e+02] [-4.83048370e-01 8.74884127e-01 -3.52425406e-02 -3.70901091e+01] [-8.17456481e-02 -4.98688900e-03 9.96640748e-01 -1.57565060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.877719421 meters 0.07031813133328008 Centerline is valid? [True, True] Translation: X:147.36, Y:-37.11, Z:-15.76 [[ 8.72667322e-01 4.82692012e-01 7.38929468e-02 1.47355959e+02] [-4.81428911e-01 8.75776848e-01 -3.52294804e-02 -3.71085220e+01] [-8.17187208e-02 -4.83058465e-03 9.96643726e-01 -1.57596924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.907719421 meters 0.07032776618977188 Centerline is valid? [True, True] Translation: X:147.38, Y:-37.13, Z:-15.77 [[ 8.73777576e-01 4.80944704e-01 7.21452698e-02 1.47381642e+02] [-4.79734763e-01 8.76739093e-01 -3.43965001e-02 -3.71250243e+01] [-7.97953930e-02 -4.55570351e-03 9.96800853e-01 -1.57654741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.937719421 meters 0.06804761641795162 Centerline is valid? [True, True] Translation: X:147.41, Y:-37.14, Z:-15.77 [[ 8.73872173e-01 4.80800012e-01 7.19637008e-02 1.47408176e+02] [-4.79594039e-01 8.76818671e-01 -3.43304010e-02 -3.71436600e+01] [-7.96051737e-02 -4.51297984e-03 9.96816257e-01 -1.57684156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.967719421 meters 0.07084847641475236 Centerline is valid? [True, True] Translation: X:147.44, Y:-37.15, Z:-15.77 [[ 8.73405687e-01 4.81657027e-01 7.18958651e-02 1.47437245e+02] [-4.80454100e-01 8.76347924e-01 -3.43245375e-02 -3.71547726e+01] [-7.95384468e-02 -4.56341692e-03 9.96821353e-01 -1.57746883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.997719421 meters 0.07046615862399806 Centerline is valid? [True, True] Translation: X:147.46, Y:-37.18, Z:-15.78 [[ 8.73719956e-01 4.81095009e-01 7.18403127e-02 1.47463666e+02] [-4.79890978e-01 8.76656929e-01 -3.43114874e-02 -3.71752409e+01] [-7.94863932e-02 -4.49688671e-03 9.96825808e-01 -1.57761133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.027719421 meters 0.07040630213682321 Centerline is valid? [True, True] Translation: X:147.49, Y:-37.19, Z:-15.78 [[ 8.73803638e-01 4.80958574e-01 7.17359940e-02 1.47491126e+02] [-4.79757278e-01 8.76731902e-01 -3.42655119e-02 -3.71913950e+01] [-7.93735262e-02 -4.47453632e-03 9.96834902e-01 -1.57792241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.057719421 meters 0.07054473030976333 Centerline is valid? [True, True] Translation: X:147.52, Y:-37.21, Z:-15.78 [[ 8.74260641e-01 4.80158292e-01 7.15286380e-02 1.47518266e+02] [-4.78959309e-01 8.77170988e-01 -3.41912077e-02 -3.72061435e+01] [-7.91600379e-02 -4.36727984e-03 9.96852354e-01 -1.57849761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.087719421 meters 0.06831362421656742 Centerline is valid? [True, True] Translation: X:147.54, Y:-37.23, Z:-15.79 [[ 8.74274584e-01 4.80125467e-01 7.15785367e-02 1.47544953e+02] [-4.78923933e-01 8.77188997e-01 -3.42247089e-02 -3.72254876e+01] [-7.92200592e-02 -4.35888116e-03 9.96847622e-01 -1.57866181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.117719421 meters 0.06928081937804266 Centerline is valid? [True, True] Translation: X:147.57, Y:-37.24, Z:-15.79 [[ 8.74117578e-01 4.80266309e-01 7.25446905e-02 1.47572289e+02] [-4.79030457e-01 8.77111647e-01 -3.47128211e-02 -3.72400078e+01] [-8.03011915e-02 -4.40802913e-03 9.96760898e-01 -1.57890416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.147719421 meters 0.06919877337594234 Centerline is valid? [True, True] Translation: X:147.60, Y:-37.26, Z:-15.79 [[ 8.74046381e-01 4.80238906e-01 7.35766074e-02 1.47600924e+02] [-4.78966384e-01 8.77126406e-01 -3.52203208e-02 -3.72554454e+01] [-8.14501535e-02 -4.45652763e-03 9.96667453e-01 -1.57912046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.177719421 meters 0.06648331531103317 Centerline is valid? [True, True] Translation: X:147.63, Y:-37.28, Z:-15.79 [[ 8.74222848e-01 4.79965661e-01 7.32623835e-02 1.47627061e+02] [-4.78701972e-01 8.77276240e-01 -3.50830728e-02 -3.72765396e+01] [-8.11100186e-02 -4.40042362e-03 9.96695441e-01 -1.57923883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.207719421 meters 0.06788865661643677 Centerline is valid? [True, True] Translation: X:147.66, Y:-37.29, Z:-15.80 [[ 8.74278116e-01 4.80000981e-01 7.23659711e-02 1.47655722e+02] [-4.78767884e-01 8.77257185e-01 -3.46575324e-02 -3.72887457e+01] [-8.01192176e-02 -4.34618068e-03 9.96775813e-01 -1.57977965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.237719421 meters 0.0683014986240611 Centerline is valid? [True, True] Translation: X:147.69, Y:-37.30, Z:-15.80 [[ 8.74066461e-01 4.80377674e-01 7.24231452e-02 1.47685507e+02] [-4.79141901e-01 8.77050889e-01 -3.47099032e-02 -3.73025489e+01] [-8.01926465e-02 -4.36220123e-03 9.96769838e-01 -1.58021605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26771942099998 meters 0.06754548937289845 Centerline is valid? [True, True] Translation: X:147.71, Y:-37.32, Z:-15.80 [[ 8.73748023e-01 4.80959707e-01 7.24027120e-02 1.47712876e+02] [-4.79724453e-01 8.76731705e-01 -3.47270285e-02 -3.73187840e+01] [-8.01800546e-02 -4.39067898e-03 9.96770726e-01 -1.58041724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29771942099998 meters 0.06797511681596317 Centerline is valid? [True, True] Translation: X:147.74, Y:-37.33, Z:-15.81 [[ 8.73642429e-01 4.81189332e-01 7.21507687e-02 1.47741944e+02] [-4.79961673e-01 8.76605767e-01 -3.46283432e-02 -3.73339740e+01] [-7.99105692e-02 -4.37681382e-03 9.96792428e-01 -1.58064768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32771942099998 meters 0.06862857027022955 Centerline is valid? [True, True] Translation: X:147.77, Y:-37.35, Z:-15.81 [[ 8.73449528e-01 4.81450114e-01 7.27441394e-02 1.47769459e+02] [-4.80200774e-01 8.76462389e-01 -3.49413356e-02 -3.73475785e+01] [-8.05800122e-02 -4.41229895e-03 9.96738378e-01 -1.58091438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35771942099998 meters 0.06916560075144826 Centerline is valid? [True, True] Translation: X:147.80, Y:-37.36, Z:-15.81 [[ 8.73260217e-01 4.81914804e-01 7.19354898e-02 1.47798059e+02] [-4.80693052e-01 8.76207095e-01 -3.45733554e-02 -3.73604583e+01] [-7.96917983e-02 -4.38735429e-03 9.96809896e-01 -1.58142316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38771942099999 meters 0.0701371837539756 Centerline is valid? [True, True] Translation: X:147.83, Y:-37.37, Z:-15.82 [[ 8.72855272e-01 4.82740307e-01 7.13124892e-02 1.47825688e+02] [-4.81540604e-01 8.75752477e-01 -3.42964476e-02 -3.73730533e+01] [-7.90083667e-02 -4.40402405e-03 9.96864225e-01 -1.58195505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.417719421 meters 0.07081193302710066 Centerline is valid? [True, True] Translation: X:147.85, Y:-37.39, Z:-15.82 [[ 8.72377576e-01 4.83533806e-01 7.17803858e-02 1.47854702e+02] [-4.82319329e-01 8.75314184e-01 -3.45419088e-02 -3.73865349e+01] [-7.95325705e-02 -4.48748085e-03 9.96822167e-01 -1.58227061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.447719421 meters 0.07131980509814101 Centerline is valid? [True, True] Translation: X:147.88, Y:-37.40, Z:-15.83 [[ 8.71807324e-01 4.84490545e-01 7.22558050e-02 1.47883285e+02] [-4.83261381e-01 8.74784478e-01 -3.47930121e-02 -3.74013908e+01] [-8.00651421e-02 -4.58563738e-03 9.96779085e-01 -1.58251150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.477719421 meters 0.0690937292589971 Centerline is valid? [True, True] Translation: X:147.91, Y:-37.42, Z:-15.83 [[ 8.71776748e-01 4.84405594e-01 7.31882650e-02 1.47909803e+02] [-4.83142329e-01 8.74831355e-01 -3.52645846e-02 -3.74197876e+01] [-8.11097511e-02 -4.61750393e-03 9.96694480e-01 -1.58259401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.507719421 meters 0.06870309010755594 Centerline is valid? [True, True] Translation: X:147.94, Y:-37.44, Z:-15.83 [[ 8.71256098e-01 4.85312285e-01 7.33811760e-02 1.47937841e+02] [-4.84043637e-01 8.74328287e-01 -3.53808494e-02 -3.74351687e+01] [-8.13299988e-02 -4.69391049e-03 9.96676175e-01 -1.58279274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.537719421 meters 0.06870309010755594 Centerline is valid? [True, True] Translation: X:147.97, Y:-37.45, Z:-15.83 [[ 8.71111249e-01 4.85573581e-01 7.33722643e-02 1.47966807e+02] [-4.84304305e-01 8.74183178e-01 -3.53993194e-02 -3.74493617e+01] [-8.13297734e-02 -4.69775813e-03 9.96676176e-01 -1.58312613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.567719421 meters 0.06984516445064977 Centerline is valid? [True, True] Translation: X:147.99, Y:-37.46, Z:-15.83 [[ 8.71120807e-01 4.85378738e-01 7.45387162e-02 1.47994497e+02] [-4.84065593e-01 8.74291210e-01 -3.59914100e-02 -3.74623795e+01] [-8.26380096e-02 -4.72876174e-03 9.96568411e-01 -1.58345917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.597719421 meters 0.06778884200509627 Centerline is valid? [True, True] Translation: X:148.02, Y:-37.48, Z:-15.84 [[ 8.71442993e-01 4.84999605e-01 7.32290489e-02 1.48020631e+02] [-4.83729234e-01 8.74502316e-01 -3.53797645e-02 -3.74822599e+01] [-8.11981446e-02 -4.59158386e-03 9.96687403e-01 -1.58362887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.627719421 meters 0.0656555780355727 Centerline is valid? [True, True] Translation: X:148.05, Y:-37.50, Z:-15.84 [[ 8.73597321e-01 4.81323951e-01 7.17981524e-02 1.48045417e+02] [-4.80088508e-01 8.76532985e-01 -3.47123917e-02 -3.75029408e+01] [-7.96413544e-02 -4.14481552e-03 9.96814965e-01 -1.58403769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.657719421 meters 0.06408406953346998 Centerline is valid? [True, True] Translation: X:148.07, Y:-37.52, Z:-15.84 [[ 8.74759576e-01 4.78982796e-01 7.32882382e-02 1.48071892e+02] [-4.77685398e-01 8.77815205e-01 -3.54559623e-02 -3.75210032e+01] [-8.13163258e-02 -3.99327873e-03 9.96680344e-01 -1.58426508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.687719421 meters 0.062371738153882555 Centerline is valid? [True, True] Translation: X:148.10, Y:-37.54, Z:-15.85 [[ 8.76877924e-01 4.74745802e-01 7.55084728e-02 1.48097828e+02] [-4.73352079e-01 8.80115174e-01 -3.65388914e-02 -3.75391713e+01] [-8.38028380e-02 -3.70194535e-03 9.96475479e-01 -1.58457342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.717719421 meters 0.06174405552577587 Centerline is valid? [True, True] Translation: X:148.13, Y:-37.55, Z:-15.85 [[ 8.77451224e-01 4.73635252e-01 7.58221393e-02 1.48126274e+02] [-4.72224982e-01 8.80713727e-01 -3.67000958e-02 -3.75548479e+01] [-8.41600581e-02 -3.60256441e-03 9.96445737e-01 -1.58494420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.747719421 meters 0.06289756048500712 Centerline is valid? [True, True] Translation: X:148.15, Y:-37.57, Z:-15.86 [[ 8.77597434e-01 4.73636837e-01 7.41005458e-02 1.48154613e+02] [-4.72289552e-01 8.80713225e-01 -3.58719134e-02 -3.75666304e+01] [-8.22515903e-02 -3.51581442e-03 9.96605396e-01 -1.58550132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.777719421 meters 0.06290772868022271 Centerline is valid? [True, True] Translation: X:148.18, Y:-37.58, Z:-15.86 [[ 8.76770382e-01 4.75859885e-01 6.95058811e-02 1.48183199e+02] [-4.74679785e-01 8.79514254e-01 -3.36716133e-02 -3.75808478e+01] [-7.71543832e-02 -3.47076346e-03 9.97013117e-01 -1.58597388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.807719421 meters 0.06429118158365366 Centerline is valid? [True, True] Translation: X:148.21, Y:-37.59, Z:-15.86 [[ 8.75820654e-01 4.77696026e-01 6.88817042e-02 1.48212362e+02] [-4.76542499e-01 8.78517823e-01 -3.33718531e-02 -3.75899856e+01] [-7.64554065e-02 -3.59730125e-03 9.97066512e-01 -1.58648569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.837719421 meters 0.06591241623662926 Centerline is valid? [True, True] Translation: X:148.24, Y:-37.60, Z:-15.87 [[ 8.74594270e-01 4.79943182e-01 6.88433403e-02 1.48242267e+02] [-4.78796585e-01 8.77291444e-01 -3.33699348e-02 -3.75992966e+01] [-7.64113461e-02 -3.77680247e-03 9.97069226e-01 -1.58688185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.867719421 meters 0.06635456272752231 Centerline is valid? [True, True] Translation: X:148.27, Y:-37.61, Z:-15.87 [[ 8.72573379e-01 4.83587749e-01 6.89825062e-02 1.48271966e+02] [-4.82446232e-01 8.75286350e-01 -3.34580053e-02 -3.76103518e+01] [-7.65593276e-02 -4.08578543e-03 9.97056656e-01 -1.58706307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.897719421 meters 0.06679189347925729 Centerline is valid? [True, True] Translation: X:148.30, Y:-37.62, Z:-15.87 [[ 8.71740953e-01 4.85061675e-01 6.91583871e-02 1.48300996e+02] [-4.83917400e-01 8.74469817e-01 -3.35632232e-02 -3.76227752e+01] [-7.67571554e-02 -4.20851069e-03 9.97040936e-01 -1.58739211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.927719421 meters 0.06796921974833385 Centerline is valid? [True, True] Translation: X:148.33, Y:-37.63, Z:-15.88 [[ 8.70936634e-01 4.86499200e-01 6.91947107e-02 1.48330386e+02] [-4.85356422e-01 8.73670357e-01 -3.36043307e-02 -3.76334472e+01] [-7.68018476e-02 -4.31685454e-03 9.97037031e-01 -1.58777903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.957719421 meters 0.0684035956855155 Centerline is valid? [True, True] Translation: X:148.36, Y:-37.65, Z:-15.88 [[ 8.70972917e-01 4.86345769e-01 6.98138273e-02 1.48359052e+02] [-4.85180256e-01 8.73755746e-01 -3.39266122e-02 -3.76461736e+01] [-7.75002971e-02 -4.32313020e-03 9.96982956e-01 -1.58799719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.987719421 meters 0.06779747537408733 Centerline is valid? [True, True] Translation: X:148.39, Y:-37.66, Z:-15.88 [[ 8.71098107e-01 4.86032438e-01 7.04312256e-02 1.48387708e+02] [-4.84843541e-01 8.73930117e-01 -3.42475121e-02 -3.76609564e+01] [-7.81973710e-02 -4.31518188e-03 9.96928558e-01 -1.58826733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01771942099998 meters 0.06801638871152889 Centerline is valid? [True, True] Translation: X:148.42, Y:-37.67, Z:-15.88 [[ 8.70946385e-01 4.86033631e-01 7.22752045e-02 1.48416342e+02] [-4.84779648e-01 8.73928991e-01 -3.51683335e-02 -3.76742982e+01] [-8.02563893e-02 -4.40781525e-03 9.96764507e-01 -1.58843682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04771942099998 meters 0.06763274941067474 Centerline is valid? [True, True] Translation: X:148.44, Y:-37.69, Z:-15.89 [[ 8.70773462e-01 4.86217517e-01 7.31170639e-02 1.48444929e+02] [-4.84932827e-01 8.73826454e-01 -3.56017012e-02 -3.76893266e+01] [-8.12017955e-02 -4.45584797e-03 9.96687721e-01 -1.58855685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07771942099998 meters 0.06769224518012555 Centerline is valid? [True, True] Translation: X:148.47, Y:-37.70, Z:-15.89 [[ 8.70876508e-01 4.85916074e-01 7.38896275e-02 1.48472659e+02] [-4.84600961e-01 8.73994129e-01 -3.60023800e-02 -3.77024151e+01] [-8.20732357e-02 -4.45335753e-03 9.96616351e-01 -1.58878433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10771942099998 meters 0.06486270578052772 Centerline is valid? [True, True] Translation: X:148.50, Y:-37.72, Z:-15.89 [[ 8.72160746e-01 4.83429381e-01 7.50444341e-02 1.48498964e+02] [-4.82061488e-01 8.75372982e-01 -3.65904931e-02 -3.77215571e+01] [-8.33807896e-02 -4.26323977e-03 9.96508640e-01 -1.58891431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13771942099999 meters 0.06581796193529947 Centerline is valid? [True, True] Translation: X:148.53, Y:-37.73, Z:-15.90 [[ 8.73461343e-01 4.81091344e-01 7.49426511e-02 1.48526823e+02] [-4.79717780e-01 8.76661230e-01 -3.65505161e-02 -3.77323843e+01] [-8.32834536e-02 -4.02585928e-03 9.96517766e-01 -1.58950330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.167719421 meters 0.0622024250019723 Centerline is valid? [True, True] Translation: X:148.55, Y:-37.75, Z:-15.90 [[ 8.76346686e-01 4.75872827e-01 7.45757289e-02 1.48551020e+02] [-4.74493186e-01 8.79507117e-01 -3.63792161e-02 -3.77543748e+01] [-8.29017648e-02 -3.50486976e-03 9.96551561e-01 -1.58986848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.197719421 meters 0.05997484044434992 Centerline is valid? [True, True] Translation: X:148.58, Y:-37.77, Z:-15.90 [[ 8.79642323e-01 4.70125042e-01 7.21929913e-02 1.48575702e+02] [-4.68811204e-01 8.82595227e-01 -3.52380600e-02 -3.77742348e+01] [-8.02834840e-02 -2.84799427e-03 9.96768003e-01 -1.59035877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.227719421 meters 0.05950772959022086 Centerline is valid? [True, True] Translation: X:148.60, Y:-37.79, Z:-15.91 [[ 8.80498828e-01 4.68686200e-01 7.10989499e-02 1.48603384e+02] [-4.67405811e-01 8.83360728e-01 -3.47222306e-02 -3.77906419e+01] [-7.90798505e-02 -2.65917899e-03 9.96864738e-01 -1.59080285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.257719421 meters 0.05932290705750854 Centerline is valid? [True, True] Translation: X:148.63, Y:-37.80, Z:-15.91 [[ 8.81123427e-01 4.67620359e-01 7.03754700e-02 1.48630184e+02] [-4.66360757e-01 8.83925825e-01 -3.43915682e-02 -3.78049999e+01] [-7.82888929e-02 -2.51714102e-03 9.96927537e-01 -1.59118555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.287719421 meters 0.05972268548609242 Centerline is valid? [True, True] Translation: X:148.66, Y:-37.82, Z:-15.92 [[ 8.80659625e-01 4.68497949e-01 7.03441319e-02 1.48659508e+02] [-4.67240433e-01 8.83460836e-01 -3.43995337e-02 -3.78164917e+01] [-7.82623966e-02 -2.57334221e-03 9.96929474e-01 -1.59158837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.317719421 meters 0.06104090229805344 Centerline is valid? [True, True] Translation: X:148.69, Y:-37.82, Z:-15.92 [[ 8.79368338e-01 4.71074799e-01 6.92810240e-02 1.48691242e+02] [-4.69861972e-01 8.82088988e-01 -3.38931382e-02 -3.78238033e+01] [-7.70782316e-02 -2.74796592e-03 9.97021261e-01 -1.59232366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.347719421 meters 0.06146718906030172 Centerline is valid? [True, True] Translation: X:148.72, Y:-37.84, Z:-15.93 [[ 8.78426554e-01 4.72925850e-01 6.86143507e-02 1.48720019e+02] [-4.71741582e-01 8.81097529e-01 -3.35711944e-02 -3.78366824e+01] [-7.63326205e-02 -2.87841368e-03 9.97078255e-01 -1.59264801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.377719421 meters 0.06400091627156268 Centerline is valid? [True, True] Translation: X:148.75, Y:-37.85, Z:-15.93 [[ 8.76483695e-01 4.76697095e-01 6.73513994e-02 1.48749597e+02] [-4.75566630e-01 8.79062007e-01 -3.29600959e-02 -3.78463508e+01] [-7.49180383e-02 -3.14109135e-03 9.97184748e-01 -1.59293528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.407719421 meters 0.06454247011083347 Centerline is valid? [True, True] Translation: X:148.78, Y:-37.86, Z:-15.93 [[ 8.74542302e-01 4.80014326e-01 6.90073081e-02 1.48779921e+02] [-4.78835894e-01 8.77253715e-01 -3.37950493e-02 -3.78584198e+01] [-7.67590253e-02 -3.48797585e-03 9.97043573e-01 -1.59293604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.437719421 meters 0.06396498752969078 Centerline is valid? [True, True] Translation: X:148.81, Y:-37.87, Z:-15.93 [[ 8.73795398e-01 4.81226148e-01 7.00214055e-02 1.48808978e+02] [-4.80016555e-01 8.76588899e-01 -3.42929833e-02 -3.78725434e+01] [-7.78826670e-02 -3.64638286e-03 9.96955864e-01 -1.59318665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.467719421 meters 0.06457865375795843 Centerline is valid? [True, True] Translation: X:148.84, Y:-37.88, Z:-15.93 [[ 8.72620946e-01 4.83132165e-01 7.15261928e-02 1.48839127e+02] [-4.81874434e-01 8.75538847e-01 -3.50536490e-02 -3.78842790e+01] [-7.95595057e-02 -3.87809528e-03 9.96822575e-01 -1.59349112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.497719421 meters 0.06489164382290305 Centerline is valid? [True, True] Translation: X:148.87, Y:-37.90, Z:-15.94 [[ 8.72293433e-01 4.83721781e-01 7.15360412e-02 1.48867232e+02] [-4.82463821e-01 8.75213079e-01 -3.50817140e-02 -3.78984499e+01] [-7.95790681e-02 -3.91200308e-03 9.96820881e-01 -1.59382865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.527719421 meters 0.06486040316050154 Centerline is valid? [True, True] Translation: X:148.89, Y:-37.92, Z:-15.94 [[ 8.72451446e-01 4.83236222e-01 7.28781794e-02 1.48894141e+02] [-4.81926686e-01 8.75481245e-01 -3.57667474e-02 -3.79150469e+01] [-8.10872671e-02 -3.91718903e-03 9.96699308e-01 -1.59387739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.557719421 meters 0.06437642897908331 Centerline is valid? [True, True] Translation: X:148.92, Y:-37.93, Z:-15.94 [[ 8.73013431e-01 4.82101024e-01 7.36624149e-02 1.48922539e+02] [-4.80757850e-01 8.76107219e-01 -3.61667161e-02 -3.79308995e+01] [-8.19721843e-02 -3.83975531e-03 9.96627221e-01 -1.59404206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.587719421 meters 0.06342487598129937 Centerline is valid? [True, True] Translation: X:148.95, Y:-37.94, Z:-15.94 [[ 8.74192168e-01 4.79826159e-01 7.45312728e-02 1.48950065e+02] [-4.78442295e-01 8.77355934e-01 -3.65996766e-02 -3.79445476e+01] [-8.29519366e-02 -3.66376256e-03 9.96546814e-01 -1.59440990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.617719421 meters 0.062375217112528206 Centerline is valid? [True, True] Translation: X:148.98, Y:-37.96, Z:-15.95 [[ 8.74817662e-01 4.78501867e-01 7.56969065e-02 1.48977324e+02] [-4.77067897e-01 8.78079243e-01 -3.71895679e-02 -3.79600538e+01] [-8.42631601e-02 -3.57847313e-03 9.96437110e-01 -1.59468389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.647719421 meters 0.06128589069167119 Centerline is valid? [True, True] Translation: X:149.00, Y:-37.98, Z:-15.95 [[ 8.75953681e-01 4.76304076e-01 7.64171204e-02 1.49004049e+02] [-4.74832115e-01 8.79274147e-01 -3.75690843e-02 -3.79775496e+01] [-8.50859064e-02 -3.37652526e-03 9.96367898e-01 -1.59487334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.677719421 meters 0.06087394080956781 Centerline is valid? [True, True] Translation: X:149.03, Y:-37.99, Z:-15.95 [[ 8.76621702e-01 4.74940532e-01 7.72391215e-02 1.49031184e+02] [-4.73431090e-01 8.80011795e-01 -3.79768969e-02 -3.79931512e+01] [-8.60081055e-02 -3.27602938e-03 9.96289051e-01 -1.59513508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.707719421 meters 0.06003644921868429 Centerline is valid? [True, True] Translation: X:149.06, Y:-38.01, Z:-15.96 [[ 8.78077174e-01 4.72621555e-01 7.48955485e-02 1.49059375e+02] [-4.71192847e-01 8.81260577e-01 -3.68387828e-02 -3.80087660e+01] [-8.34132971e-02 -2.94295241e-03 9.96510693e-01 -1.59572929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.737719421 meters 0.06020939744454091 Centerline is valid? [True, True] Translation: X:149.09, Y:-38.02, Z:-15.96 [[ 8.78123968e-01 4.72583023e-01 7.45894265e-02 1.49088630e+02] [-4.71165476e-01 8.81281306e-01 -3.66926880e-02 -3.80214650e+01] [-8.30746086e-02 -2.92323381e-03 9.96539043e-01 -1.59621514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76771942099998 meters 0.06035028741057799 Centerline is valid? [True, True] Translation: X:149.12, Y:-38.03, Z:-15.97 [[ 8.78018082e-01 4.72762387e-01 7.46992147e-02 1.49118437e+02] [-4.71339258e-01 8.81185101e-01 -3.67712060e-02 -3.80337398e+01] [-8.32078781e-02 -2.92288866e-03 9.96527925e-01 -1.59673031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79771942099998 meters 0.05996215044736251 Centerline is valid? [True, True] Translation: X:149.15, Y:-38.05, Z:-15.97 [[ 8.77461962e-01 4.73939789e-01 7.37670811e-02 1.49146433e+02] [-4.72553985e-01 8.80552234e-01 -3.63386149e-02 -3.80503028e+01] [-8.21780835e-02 -2.97317581e-03 9.96613226e-01 -1.59685674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82771942099998 meters 0.06032630875825606 Centerline is valid? [True, True] Translation: X:149.18, Y:-38.06, Z:-15.97 [[ 8.76903835e-01 4.75073262e-01 7.31099139e-02 1.49175466e+02] [-4.73714113e-01 8.79941024e-01 -3.60379404e-02 -3.80639015e+01] [-8.14530744e-02 -3.03138987e-03 9.96672568e-01 -1.59712969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85771942099998 meters 0.06127140108918868 Centerline is valid? [True, True] Translation: X:149.21, Y:-38.07, Z:-15.98 [[ 8.75726777e-01 4.77204907e-01 7.33354511e-02 1.49205051e+02] [-4.75842613e-01 8.78786170e-01 -3.61756074e-02 -3.80720332e+01] [-8.17093576e-02 -3.21618460e-03 9.96651011e-01 -1.59769445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88771942099999 meters 0.06086379853780408 Centerline is valid? [True, True] Translation: X:149.23, Y:-38.09, Z:-15.98 [[ 8.75055740e-01 4.78447548e-01 7.32488628e-02 1.49233286e+02] [-4.77091880e-01 8.78109864e-01 -3.61442298e-02 -3.80860183e+01] [-8.16136670e-02 -3.31822191e-03 9.96658517e-01 -1.59801423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.917719421 meters 0.06386587799053053 Centerline is valid? [True, True] Translation: X:149.26, Y:-38.09, Z:-15.99 [[ 8.73291226e-01 4.81708973e-01 7.29307918e-02 1.49264095e+02] [-4.80375403e-01 8.76323874e-01 -3.59991739e-02 -3.80912801e+01] [-8.12521190e-02 -3.59639578e-03 9.96687092e-01 -1.59861108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.947719421 meters 0.06479655521029001 Centerline is valid? [True, True] Translation: X:149.29, Y:-38.10, Z:-15.99 [[ 8.72180831e-01 4.83669802e-01 7.32401611e-02 1.49293493e+02] [-4.82330587e-01 8.75242375e-01 -3.61661513e-02 -3.81028821e+01] [-8.15953677e-02 -3.78254598e-03 9.96658361e-01 -1.59885440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.977719421 meters 0.06465707685838919 Centerline is valid? [True, True] Translation: X:149.32, Y:-38.12, Z:-15.99 [[ 8.70189105e-01 4.87357464e-01 7.24818918e-02 1.49321912e+02] [-4.86056905e-01 8.73193085e-01 -3.58123087e-02 -3.81165496e+01] [-8.07440826e-02 -4.06684317e-03 9.96726569e-01 -1.59895262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.007719421 meters 0.06620348350468222 Centerline is valid? [True, True] Translation: X:149.35, Y:-38.13, Z:-15.99 [[ 8.69349438e-01 4.88949388e-01 7.18334865e-02 1.49351507e+02] [-4.87675742e-01 8.72302244e-01 -3.55129104e-02 -3.81266736e+01] [-8.00245272e-02 -4.15832012e-03 9.96784221e-01 -1.59934265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.037719421 meters 0.06767426742932635 Centerline is valid? [True, True] Translation: X:149.38, Y:-38.14, Z:-16.00 [[ 8.67677907e-01 4.91536738e-01 7.43416758e-02 1.49382011e+02] [-4.90179948e-01 8.70845054e-01 -3.67764851e-02 -3.81360572e+01] [-8.28170742e-02 -4.53065518e-03 9.96554467e-01 -1.59951458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.067719421 meters 0.06538466203246206 Centerline is valid? [True, True] Translation: X:149.41, Y:-38.15, Z:-15.99 [[ 8.68016230e-01 4.90344935e-01 7.81643704e-02 1.49408747e+02] [-4.88837794e-01 8.71516189e-01 -3.86929463e-02 -3.81523909e+01] [-8.70944044e-02 -4.62359300e-03 9.96189333e-01 -1.59945736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.097719421 meters 0.06559975341808269 Centerline is valid? [True, True] Translation: X:149.44, Y:-38.17, Z:-16.00 [[ 8.68913118e-01 4.88610488e-01 7.90555754e-02 1.49435507e+02] [-4.87059771e-01 8.72490513e-01 -3.91546182e-02 -3.81657427e+01] [-8.81065967e-02 -4.48282905e-03 9.96100965e-01 -1.59970283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.127719421 meters 0.06342735312089293 Centerline is valid? [True, True] Translation: X:149.46, Y:-38.19, Z:-16.00 [[ 8.71861987e-01 4.83486958e-01 7.80835256e-02 1.49459890e+02] [-4.81952261e-01 8.75342873e-01 -3.86894380e-02 -3.81851255e+01] [-8.70556964e-02 -3.90068141e-03 9.96195809e-01 -1.60008842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.157719421 meters 0.06162620121947781 Centerline is valid? [True, True] Translation: X:149.49, Y:-38.20, Z:-16.00 [[ 8.72775365e-01 4.81876280e-01 7.78358115e-02 1.49486719e+02] [-4.80343321e-01 8.76231404e-01 -3.85852328e-02 -3.82034545e+01] [-8.67954909e-02 -3.71167158e-03 9.96219236e-01 -1.60035453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.187719421 meters 0.06222705922397331 Centerline is valid? [True, True] Translation: X:149.51, Y:-38.22, Z:-16.01 [[ 8.73523504e-01 4.80378300e-01 7.86980064e-02 1.49514800e+02] [-4.78802752e-01 8.77054090e-01 -3.90390464e-02 -3.82164836e+01] [-8.77759192e-02 -3.57929750e-03 9.96133815e-01 -1.60066170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.217719421 meters 0.06092662622023608 Centerline is valid? [True, True] Translation: X:149.54, Y:-38.23, Z:-16.01 [[ 8.73269869e-01 4.80858766e-01 7.85785139e-02 1.49541399e+02] [-4.79287866e-01 8.76790669e-01 -3.90033743e-02 -3.82347727e+01] [-8.76520223e-02 -3.60125672e-03 9.96144645e-01 -1.60075015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.247719421 meters 0.06234215721156785 Centerline is valid? [True, True] Translation: X:149.57, Y:-38.25, Z:-16.01 [[ 8.72399686e-01 4.82606332e-01 7.75236538e-02 1.49570436e+02] [-4.81082048e-01 8.75829558e-01 -3.85051893e-02 -3.82455338e+01] [-8.64803556e-02 -3.70332307e-03 9.96246673e-01 -1.60127892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.277719421 meters 0.06137703740881621 Centerline is valid? [True, True] Translation: X:149.60, Y:-38.26, Z:-16.02 [[ 8.72257734e-01 4.82927518e-01 7.71197690e-02 1.49599073e+02] [-4.81418446e-01 8.75652529e-01 -3.83266176e-02 -3.82618210e+01] [-8.60390991e-02 -3.69619071e-03 9.96284905e-01 -1.60177688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.307719421 meters 0.062268812971523 Centerline is valid? [True, True] Translation: X:149.63, Y:-38.28, Z:-16.02 [[ 8.71614002e-01 4.84330004e-01 7.55875490e-02 1.49627496e+02] [-4.82882869e-01 8.74877443e-01 -3.75978016e-02 -3.82759220e+01] [-8.43395850e-02 -3.72916223e-03 9.96430092e-01 -1.60238718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.337719421 meters 0.06256594169425896 Centerline is valid? [True, True] Translation: X:149.66, Y:-38.29, Z:-16.03 [[ 8.71425732e-01 4.84723937e-01 7.52322995e-02 1.49655722e+02] [-4.83291573e-01 8.74659173e-01 -3.74244110e-02 -3.82907978e+01] [-8.39431287e-02 -3.74654167e-03 9.96463504e-01 -1.60278853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.367719421 meters 0.06270328136048725 Centerline is valid? [True, True] Translation: X:149.68, Y:-38.31, Z:-16.03 [[ 8.70544506e-01 4.86346683e-01 7.49611063e-02 1.49684514e+02] [-4.84928395e-01 8.73757382e-01 -3.73160667e-02 -3.83052322e+01] [-8.36463653e-02 -3.86547214e-03 9.96488005e-01 -1.60311175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.397719421 meters 0.0631093397324661 Centerline is valid? [True, True] Translation: X:149.71, Y:-38.32, Z:-16.03 [[ 8.70006829e-01 4.87411774e-01 7.42824373e-02 1.49713432e+02] [-4.86021847e-01 8.73163442e-01 -3.69914624e-02 -3.83190294e+01] [-8.28907829e-02 -3.92006249e-03 9.96550928e-01 -1.60348894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.427719421 meters 0.06432245954056098 Centerline is valid? [True, True] Translation: X:149.74, Y:-38.33, Z:-16.04 [[ 8.68966046e-01 4.89383825e-01 7.34947794e-02 1.49742045e+02] [-4.88028017e-01 8.72059143e-01 -3.66265811e-02 -3.83305698e+01] [-8.20162506e-02 -4.04025610e-03 9.96622803e-01 -1.60382441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.457719421 meters 0.06583548598278209 Centerline is valid? [True, True] Translation: X:149.77, Y:-38.34, Z:-16.04 [[ 8.68318391e-01 4.90636365e-01 7.27951105e-02 1.49770895e+02] [-4.89309986e-01 8.71354723e-01 -3.62861547e-02 -3.83415057e+01] [-8.12336704e-02 -4.11143900e-03 9.96686604e-01 -1.60433181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.487719421 meters 0.06583548598278209 Centerline is valid? [True, True] Translation: X:149.80, Y:-38.36, Z:-16.05 [[ 8.68173745e-01 4.90893506e-01 7.27867745e-02 1.49799663e+02] [-4.89566628e-01 8.71209859e-01 -3.63028672e-02 -3.83560757e+01] [-8.12333973e-02 -4.11677964e-03 9.96686604e-01 -1.60466500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51771942099998 meters 0.06855266208505698 Centerline is valid? [True, True] Translation: X:149.83, Y:-38.36, Z:-16.05 [[ 8.66064302e-01 4.94176033e-01 7.56483531e-02 1.49831090e+02] [-4.92752480e-01 8.69349836e-01 -3.77605209e-02 -3.83626829e+01] [-8.44252277e-02 -4.57287439e-03 9.96419324e-01 -1.60489121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54771942099998 meters 0.0669519775135066 Centerline is valid? [True, True] Translation: X:149.86, Y:-38.38, Z:-16.05 [[ 8.65045868e-01 4.95689448e-01 7.73797019e-02 1.49859135e+02] [-4.94203903e-01 8.68486525e-01 -3.86478829e-02 -3.83780524e+01] [-8.63605761e-02 -4.80915932e-03 9.96252339e-01 -1.60501002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57771942099998 meters 0.07067788431889467 Centerline is valid? [True, True] Translation: X:149.89, Y:-38.38, Z:-16.06 [[ 8.64041490e-01 4.97363175e-01 7.78599785e-02 1.49890910e+02] [-4.95863465e-01 8.67528118e-01 -3.89151450e-02 -3.83819685e+01] [-8.69006807e-02 -4.98361884e-03 9.96204515e-01 -1.60552327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60771942099998 meters 0.07079167802001177 Centerline is valid? [True, True] Translation: X:149.92, Y:-38.40, Z:-16.06 [[ 8.63938440e-01 4.97536896e-01 7.78935706e-02 1.49920255e+02] [-4.96035227e-01 8.67428464e-01 -3.89475699e-02 -3.83955800e+01] [-8.69449534e-02 -4.98965218e-03 9.96200622e-01 -1.60579718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63771942099999 meters 0.07041865068726587 Centerline is valid? [True, True] Translation: X:149.95, Y:-38.41, Z:-16.06 [[ 8.64659640e-01 4.95993688e-01 7.97117803e-02 1.49947273e+02] [-4.94411526e-01 8.68312190e-01 -3.98896371e-02 -3.84090431e+01] [-8.89997188e-02 -4.91946364e-03 9.96019502e-01 -1.60583322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.667719421 meters 0.06655838877908284 Centerline is valid? [True, True] Translation: X:149.97, Y:-38.43, Z:-16.06 [[ 8.66388444e-01 4.93192304e-01 7.83097350e-02 1.49971882e+02] [-4.91653959e-01 8.69908419e-01 -3.91883406e-02 -3.84296805e+01] [-8.74496858e-02 -4.54896581e-03 9.96158551e-01 -1.60611084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.697719421 meters 0.06520516460213314 Centerline is valid? [True, True] Translation: X:150.00, Y:-38.45, Z:-16.07 [[ 8.67455550e-01 4.91469718e-01 7.73200218e-02 1.49998150e+02] [-4.89961692e-01 8.70884030e-01 -3.87110614e-02 -3.84455643e+01] [-8.63620866e-02 -4.30372370e-03 9.96254520e-01 -1.60654819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.727719421 meters 0.062175763406130034 Centerline is valid? [True, True] Translation: X:150.02, Y:-38.46, Z:-16.07 [[ 8.69630281e-01 4.87908022e-01 7.54250406e-02 1.50023131e+02] [-4.86458049e-01 8.72886624e-01 -3.77823651e-02 -3.84645518e+01] [-8.42718281e-02 -3.83442935e-03 9.96435425e-01 -1.60712402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.757719421 meters 0.06209839770023656 Centerline is valid? [True, True] Translation: X:150.05, Y:-38.48, Z:-16.08 [[ 8.70258083e-01 4.86871742e-01 7.48784029e-02 1.50051512e+02] [-4.85436897e-01 8.73465696e-01 -3.75326041e-02 -3.84798500e+01] [-8.36772807e-02 -3.68568749e-03 9.96486090e-01 -1.60759355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.787719421 meters 0.06121886032260981 Centerline is valid? [True, True] Translation: X:150.08, Y:-38.50, Z:-16.08 [[ 8.71741708e-01 4.84334604e-01 7.40701366e-02 1.50078081e+02] [-4.82920692e-01 8.74876252e-01 -3.71368860e-02 -3.84971399e+01] [-8.27888825e-02 -3.39622918e-03 9.96561321e-01 -1.60813530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.817719421 meters 0.06235906172909664 Centerline is valid? [True, True] Translation: X:150.11, Y:-38.51, Z:-16.09 [[ 8.72238679e-01 4.83509867e-01 7.36063527e-02 1.50106128e+02] [-4.82110580e-01 8.75332706e-01 -3.69058530e-02 -3.85094623e+01] [-8.22743920e-02 -3.29568892e-03 9.96604266e-01 -1.60860544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.847719421 meters 0.059374994234534 Centerline is valid? [True, True] Translation: X:150.13, Y:-38.53, Z:-16.08 [[ 8.73557526e-01 4.81056855e-01 7.40374987e-02 1.50130427e+02] [-4.79630090e-01 8.76684062e-01 -3.71487850e-02 -3.85329656e+01] [-8.27781728e-02 -3.05901138e-03 9.96563303e-01 -1.60843269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.877719421 meters 0.05996524619594752 Centerline is valid? [True, True] Translation: X:150.16, Y:-38.55, Z:-16.09 [[ 8.73742644e-01 4.80601999e-01 7.48031410e-02 1.50158746e+02] [-4.79143741e-01 8.76933544e-01 -3.75344538e-02 -3.85459267e+01] [-8.36365170e-02 -3.04600393e-03 9.96491673e-01 -1.60877548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.907719421 meters 0.060053623517741204 Centerline is valid? [True, True] Translation: X:150.19, Y:-38.56, Z:-16.09 [[ 8.73372160e-01 4.81085492e-01 7.60119668e-02 1.50186961e+02] [-4.79579472e-01 8.76668126e-01 -3.81644692e-02 -3.85595874e+01] [-8.49976409e-02 -3.12199405e-03 9.96376261e-01 -1.60922874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.937719421 meters 0.060671398920320044 Centerline is valid? [True, True] Translation: X:150.22, Y:-38.57, Z:-16.09 [[ 8.72310804e-01 4.82939108e-01 7.64439582e-02 1.50215416e+02] [-4.81420876e-01 8.75647720e-01 -3.84058804e-02 -3.85748738e+01] [-8.54856793e-02 -3.29985285e-03 9.96333935e-01 -1.60943844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.967719421 meters 0.05985531229141324 Centerline is valid? [True, True] Translation: X:150.24, Y:-38.59, Z:-16.10 [[ 8.71821586e-01 4.83832732e-01 7.63741399e-02 1.50242471e+02] [-4.82318609e-01 8.75154031e-01 -3.83950699e-02 -3.85921537e+01] [-8.54159279e-02 -3.36301823e-03 9.96339706e-01 -1.60962938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.997719421 meters 0.061036130777494604 Centerline is valid? [True, True] Translation: X:150.27, Y:-38.60, Z:-16.10 [[ 8.71098561e-01 4.84789425e-01 7.85271291e-02 1.50272028e+02] [-4.83190106e-01 8.74623772e-01 -3.95041723e-02 -3.86049469e+01] [-8.78328988e-02 -3.53150416e-03 9.96128963e-01 -1.60981473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.027719421 meters 0.060309336644233706 Centerline is valid? [True, True] Translation: X:150.30, Y:-38.62, Z:-16.10 [[ 8.70673601e-01 4.85543140e-01 7.85833256e-02 1.50299237e+02] [-4.83942099e-01 8.74205356e-01 -3.95606022e-02 -3.86208678e+01] [-8.79063432e-02 -3.58540754e-03 9.96122292e-01 -1.61010980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.057719421 meters 0.06254711816268724 Centerline is valid? [True, True] Translation: X:150.33, Y:-38.63, Z:-16.11 [[ 8.69522837e-01 4.87740364e-01 7.77134041e-02 1.50328912e+02] [-4.86181102e-01 8.72980717e-01 -3.91484874e-02 -3.86296696e+01] [-8.69366007e-02 -3.74228464e-03 9.96206817e-01 -1.61075487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.087719421 meters 0.061801816553000995 Centerline is valid? [True, True] Translation: X:150.36, Y:-38.65, Z:-16.11 [[ 8.69454535e-01 4.87879456e-01 7.76044301e-02 1.50357485e+02] [-4.86323139e-01 8.72903040e-01 -3.91163357e-02 -3.86462100e+01] [-8.68251995e-02 -3.73095464e-03 9.96216575e-01 -1.61118127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.117719421 meters 0.06232346282746491 Centerline is valid? [True, True] Translation: X:150.38, Y:-38.66, Z:-16.12 [[ 8.69310886e-01 4.88366454e-01 7.61366522e-02 1.50384825e+02] [-4.86867922e-01 8.72630877e-01 -3.84054480e-02 -3.86610983e+01] [-8.51951261e-02 -3.68221954e-03 9.96357482e-01 -1.61169721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.147719421 meters 0.06128338832108051 Centerline is valid? [True, True] Translation: X:150.41, Y:-38.68, Z:-16.12 [[ 8.69481679e-01 4.88208433e-01 7.51939842e-02 1.50412123e+02] [-4.86744473e-01 8.72719627e-01 -3.79508977e-02 -3.86788176e+01] [-8.41512141e-02 -3.60264598e-03 9.96446483e-01 -1.61201828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.177719421 meters 0.06226227660843091 Centerline is valid? [True, True] Translation: X:150.44, Y:-38.69, Z:-16.13 [[ 8.69520165e-01 4.88411499e-01 7.34090629e-02 1.50439977e+02] [-4.87014672e-01 8.72606374e-01 -3.70786511e-02 -3.86912420e+01] [-8.21668557e-02 -3.51065578e-03 9.96612404e-01 -1.61255327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.207719421 meters 0.06246443604362305 Centerline is valid? [True, True] Translation: X:150.47, Y:-38.71, Z:-16.13 [[ 8.69329164e-01 4.88805648e-01 7.30468488e-02 1.50468995e+02] [-4.87422162e-01 8.72385644e-01 -3.69178021e-02 -3.87053244e+01] [-8.17706524e-02 -3.51093094e-03 9.96644989e-01 -1.61291220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.237719421 meters 0.0619162431214081 Centerline is valid? [True, True] Translation: X:150.50, Y:-38.72, Z:-16.13 [[ 8.68989943e-01 4.89387954e-01 7.31840777e-02 1.50497089e+02] [-4.87999375e-01 8.72058952e-01 -3.70107354e-02 -3.87215555e+01] [-8.19334382e-02 -3.55182733e-03 9.96631475e-01 -1.61315056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26771942099998 meters 0.061901005179025075 Centerline is valid? [True, True] Translation: X:150.52, Y:-38.74, Z:-16.14 [[ 8.69210428e-01 4.89042385e-01 7.28750793e-02 1.50523817e+02] [-4.87662311e-01 8.72253068e-01 -3.68789347e-02 -3.87370274e+01] [-8.16008737e-02 -3.48287496e-03 9.96659002e-01 -1.61356321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29771942099998 meters 0.06201733474289921 Centerline is valid? [True, True] Translation: X:150.55, Y:-38.75, Z:-16.14 [[ 8.69346319e-01 4.88837274e-01 7.26298633e-02 1.50552597e+02] [-4.87463685e-01 8.72368247e-01 -3.67803970e-02 -3.87518854e+01] [-8.13396155e-02 -3.42951803e-03 9.96680543e-01 -1.61396488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32771942099998 meters 0.06182609585039077 Centerline is valid? [True, True] Translation: X:150.58, Y:-38.77, Z:-16.14 [[ 8.69278639e-01 4.88983437e-01 7.24558136e-02 1.50581428e+02] [-4.87616650e-01 8.72286318e-01 -3.66958061e-02 -3.87666964e+01] [-8.11458562e-02 -3.43178070e-03 9.96696329e-01 -1.61448186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35771942099998 meters 0.06378235176689784 Centerline is valid? [True, True] Translation: X:150.61, Y:-38.78, Z:-16.15 [[ 8.68407954e-01 4.90391114e-01 7.33769779e-02 1.50610950e+02] [-4.88991691e-01 8.71495112e-01 -3.71940320e-02 -3.87752762e+01] [-8.21873003e-02 -3.58113930e-03 9.96610467e-01 -1.61497951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38771942099999 meters 0.06483453154792249 Centerline is valid? [True, True] Translation: X:150.64, Y:-38.79, Z:-16.15 [[ 8.67091597e-01 4.92743548e-01 7.31844108e-02 1.50639906e+02] [-4.91358783e-01 8.70166354e-01 -3.71087866e-02 -3.87889115e+01] [-8.19677271e-02 -3.78308600e-03 9.96627804e-01 -1.61495457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.417719421 meters 0.06580604278237054 Centerline is valid? [True, True] Translation: X:150.67, Y:-38.80, Z:-16.15 [[ 8.66501786e-01 4.93870182e-01 7.25734062e-02 1.50667454e+02] [-4.92511689e-01 8.69527128e-01 -3.68077326e-02 -3.88018643e+01] [-8.12827871e-02 -3.84928484e-03 9.96683647e-01 -1.61524706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.447719421 meters 0.06587639645509873 Centerline is valid? [True, True] Translation: X:150.70, Y:-38.82, Z:-16.15 [[ 8.65211511e-01 4.95944909e-01 7.38084568e-02 1.50696191e+02] [-4.94546257e-01 8.68344293e-01 -3.74458009e-02 -3.88154173e+01] [-8.26622066e-02 -4.10315807e-03 9.96569177e-01 -1.61548667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.477719421 meters 0.0674163390353386 Centerline is valid? [True, True] Translation: X:150.73, Y:-38.83, Z:-16.16 [[ 8.64548636e-01 4.96897328e-01 7.51578463e-02 1.50725211e+02] [-4.95448473e-01 8.67798931e-01 -3.81552830e-02 -3.88252845e+01] [-8.41811569e-02 -4.24974230e-03 9.96441404e-01 -1.61588395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.507719421 meters 0.0660818764036902 Centerline is valid? [True, True] Translation: X:150.75, Y:-38.84, Z:-16.16 [[ 8.64022522e-01 4.97605686e-01 7.65092350e-02 1.50753308e+02] [-4.96105418e-01 8.67392289e-01 -3.88591079e-02 -3.88414962e+01] [-8.57000336e-02 -4.38150166e-03 9.96311350e-01 -1.61613469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.537719421 meters 0.06858747652218208 Centerline is valid? [True, True] Translation: X:150.78, Y:-38.85, Z:-16.17 [[ 8.64038800e-01 4.97733271e-01 7.54887006e-02 1.50782768e+02] [-4.96270866e-01 8.67319442e-01 -3.83694415e-02 -3.88514946e+01] [-8.45705653e-02 -4.31015664e-03 9.96408170e-01 -1.61672176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.567719421 meters 0.0648680523172708 Centerline is valid? [True, True] Translation: X:150.81, Y:-38.88, Z:-16.17 [[ 8.64935377e-01 4.96405604e-01 7.39477521e-02 1.50807075e+02] [-4.94995795e-01 8.68081138e-01 -3.76071882e-02 -3.88750391e+01] [-8.28610678e-02 -4.07603877e-03 9.96552773e-01 -1.61685940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.597719421 meters 0.0656506028653754 Centerline is valid? [True, True] Translation: X:150.84, Y:-38.89, Z:-16.17 [[ 8.65440265e-01 4.95561041e-01 7.37048294e-02 1.50835263e+02] [-4.94155412e-01 8.68564084e-01 -3.75081471e-02 -3.88881983e+01] [-8.26049441e-02 -3.96057955e-03 9.96574501e-01 -1.61725628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.627719421 meters 0.06325746423068666 Centerline is valid? [True, True] Translation: X:150.86, Y:-38.91, Z:-16.17 [[ 8.66991945e-01 4.92817907e-01 7.38612075e-02 1.50861295e+02] [-4.91394178e-01 8.70124669e-01 -3.76141157e-02 -3.89069606e+01] [-8.28053685e-02 -3.68383200e-03 9.96558930e-01 -1.61746770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.657719421 meters 0.06263451311943817 Centerline is valid? [True, True] Translation: X:150.89, Y:-38.92, Z:-16.18 [[ 8.68311509e-01 4.90566584e-01 7.33454188e-02 1.50887615e+02] [-4.89154503e-01 8.71396910e-01 -3.73536835e-02 -3.89221707e+01] [-8.22374402e-02 -3.44260856e-03 9.96606819e-01 -1.61783967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.687719421 meters 0.06242743946453396 Centerline is valid? [True, True] Translation: X:150.92, Y:-38.94, Z:-16.18 [[ 8.68710321e-01 4.90029276e-01 7.22058659e-02 1.50915620e+02] [-4.88657767e-01 8.71699631e-01 -3.67877767e-02 -3.89381291e+01] [-8.09689142e-02 -3.32603585e-03 9.96711078e-01 -1.61826014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.717719421 meters 0.062174871625530766 Centerline is valid? [True, True] Translation: X:150.94, Y:-38.95, Z:-16.19 [[ 8.69634291e-01 4.88684608e-01 7.01680441e-02 1.50942251e+02] [-4.87383413e-01 8.72455043e-01 -3.57715896e-02 -3.89534051e+01] [-7.86994892e-02 -3.09053989e-03 9.96893595e-01 -1.61898605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.747719421 meters 0.06209670664321047 Centerline is valid? [True, True] Translation: X:150.97, Y:-38.97, Z:-16.19 [[ 8.69850987e-01 4.88356412e-01 6.97658616e-02 1.50970346e+02] [-4.87067497e-01 8.72639020e-01 -3.55864250e-02 -3.89681025e+01] [-7.82592719e-02 -3.02579669e-03 9.96928448e-01 -1.61945918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.777719421 meters 0.06179879053930578 Centerline is valid? [True, True] Translation: X:151.00, Y:-38.98, Z:-16.20 [[ 8.69872254e-01 4.88088443e-01 7.13577900e-02 1.50998176e+02] [-4.86737212e-01 8.72788844e-01 -3.64214206e-02 -3.89834820e+01] [-8.00571575e-02 -3.05050856e-03 9.96785607e-01 -1.61960949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.807719421 meters 0.061770054466388266 Centerline is valid? [True, True] Translation: X:151.03, Y:-39.00, Z:-16.20 [[ 8.69424456e-01 4.88777153e-01 7.20972248e-02 1.51027293e+02] [-4.87398307e-01 8.72403070e-01 -3.68208447e-02 -3.89982166e+01] [-8.08950279e-02 -3.12712238e-03 9.96717721e-01 -1.61992522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.837719421 meters 0.06297048279599761 Centerline is valid? [True, True] Translation: X:151.06, Y:-39.01, Z:-16.20 [[ 8.68492571e-01 4.90365890e-01 7.25392916e-02 1.51056675e+02] [-4.88973315e-01 8.71510525e-01 -3.70742888e-02 -3.90094037e+01] [-8.13987227e-02 -3.27103351e-03 9.96676250e-01 -1.62021536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.867719421 meters 0.06112943862236891 Centerline is valid? [True, True] Translation: X:151.08, Y:-39.03, Z:-16.20 [[ 8.68001070e-01 4.91221047e-01 7.26362605e-02 1.51083483e+02] [-4.89826056e-01 8.71028554e-01 -3.71442265e-02 -3.90275765e+01] [-8.15142827e-02 -3.33790463e-03 9.96666584e-01 -1.62031836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.897719421 meters 0.06148027463429172 Centerline is valid? [True, True] Translation: X:151.11, Y:-39.04, Z:-16.21 [[ 8.67628340e-01 4.91973008e-01 7.19973807e-02 1.51112448e+02] [-4.90603152e-01 8.70603977e-01 -3.68410346e-02 -3.90406064e+01] [-8.08060005e-02 -3.35781626e-03 9.96724192e-01 -1.62079904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.927719421 meters 0.06529119296158856 Centerline is valid? [True, True] Translation: X:151.14, Y:-39.05, Z:-16.22 [[ 8.67244935e-01 4.92644765e-01 7.20233188e-02 1.51144113e+02] [-4.91274267e-01 8.70223863e-01 -3.68784816e-02 -3.90456844e+01] [-8.08444016e-02 -3.40052686e-03 9.96720933e-01 -1.62164870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.957719421 meters 0.06253926072651765 Centerline is valid? [True, True] Translation: X:151.17, Y:-39.07, Z:-16.22 [[ 8.66946038e-01 4.93164006e-01 7.20682365e-02 1.51170233e+02] [-4.91791837e-01 8.69929584e-01 -3.69229960e-02 -3.90657339e+01] [-8.09033836e-02 -3.43232530e-03 9.96716039e-01 -1.62157897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.987719421 meters 0.06116124112204886 Centerline is valid? [True, True] Translation: X:151.20, Y:-39.08, Z:-16.22 [[ 8.67155250e-01 4.93004885e-01 7.06254634e-02 1.51198041e+02] [-4.91684915e-01 8.70020171e-01 -3.62056256e-02 -3.90808135e+01] [-7.92951281e-02 -3.32957665e-03 9.96845623e-01 -1.62193508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01771942099998 meters 0.061024839420841324 Centerline is valid? [True, True] Translation: X:151.23, Y:-39.10, Z:-16.22 [[ 8.67109530e-01 4.93133425e-01 7.02886068e-02 1.51227347e+02] [-4.91824685e-01 8.69947410e-01 -3.60552791e-02 -3.90954270e+01] [-7.89274547e-02 -3.30579580e-03 9.96874881e-01 -1.62229806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04771942099998 meters 0.06225755174382043 Centerline is valid? [True, True] Translation: X:151.26, Y:-39.11, Z:-16.23 [[ 8.67535696e-01 4.92505635e-01 6.94263382e-02 1.51256293e+02] [-4.91224706e-01 8.70303428e-01 -3.56402961e-02 -3.91075052e+01] [-7.79750268e-02 -3.18470356e-03 9.96950226e-01 -1.62273158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07771942099998 meters 0.06062157017813476 Centerline is valid? [True, True] Translation: X:151.28, Y:-39.12, Z:-16.23 [[ 8.68027773e-01 4.91636392e-01 6.94366186e-02 1.51284632e+02] [-4.90350144e-01 8.70795128e-01 -3.56732718e-02 -3.91234121e+01] [-7.80033478e-02 -3.08286525e-03 9.96948330e-01 -1.62305723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10771942099998 meters 0.062173136372731565 Centerline is valid? [True, True] Translation: X:151.31, Y:-39.13, Z:-16.24 [[ 8.68029416e-01 4.91430878e-01 7.08563711e-02 1.51314550e+02] [-4.90090391e-01 8.70910980e-01 -3.64070573e-02 -3.91332645e+01] [-7.96011438e-02 -3.12362991e-03 9.96821900e-01 -1.62360100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13771942099999 meters 0.06272436314662551 Centerline is valid? [True, True] Translation: X:151.34, Y:-39.15, Z:-16.24 [[ 8.67688962e-01 4.91687033e-01 7.32101580e-02 1.51343524e+02] [-4.90254657e-01 8.70766002e-01 -3.76422892e-02 -3.91455084e+01] [-8.22571420e-02 -3.22982209e-03 9.96605905e-01 -1.62363436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.167719421 meters 0.060055596675092894 Centerline is valid? [True, True] Translation: X:151.37, Y:-39.17, Z:-16.24 [[ 8.67533892e-01 4.91939664e-01 7.33506206e-02 1.51370716e+02] [-4.90501063e-01 8.70623254e-01 -3.77340388e-02 -3.91656796e+01] [-8.24236263e-02 -3.24299975e-03 9.96592108e-01 -1.62353003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.197719421 meters 0.06216333969741808 Centerline is valid? [True, True] Translation: X:151.40, Y:-39.17, Z:-16.24 [[ 8.66395975e-01 4.93877658e-01 7.37758373e-02 1.51401177e+02] [-4.92426819e-01 8.69524671e-01 -3.79825425e-02 -3.91736266e+01] [-8.29086398e-02 -3.42127895e-03 9.96551279e-01 -1.62385103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.227719421 meters 0.06169016296407564 Centerline is valid? [True, True] Translation: X:151.43, Y:-39.19, Z:-16.24 [[ 8.65568177e-01 4.95353642e-01 7.35968732e-02 1.51429109e+02] [-4.93913308e-01 8.68684221e-01 -3.79126290e-02 -3.91887577e+01] [-8.27126014e-02 -3.53450996e-03 9.96567174e-01 -1.62399216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.257719421 meters 0.06343306428792429 Centerline is valid? [True, True] Translation: X:151.46, Y:-39.20, Z:-16.24 [[ 8.63490992e-01 4.99085280e-01 7.27817975e-02 1.51459787e+02] [-4.97687889e-01 8.66544423e-01 -3.75170304e-02 -3.91976729e+01] [-8.17928583e-02 -3.82700136e-03 9.96642003e-01 -1.62441920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.287719421 meters 0.06452896243007597 Centerline is valid? [True, True] Translation: X:151.49, Y:-39.21, Z:-16.25 [[ 8.62839559e-01 5.00187311e-01 7.29420982e-02 1.51489362e+02] [-4.98785684e-01 8.65908363e-01 -3.76237692e-02 -3.92074790e+01] [-8.19801048e-02 -3.91919786e-03 9.96626260e-01 -1.62491816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.317719421 meters 0.06526760489502827 Centerline is valid? [True, True] Translation: X:151.52, Y:-39.22, Z:-16.26 [[ 8.62375495e-01 5.01006800e-01 7.28058579e-02 1.51518856e+02] [-4.99612475e-01 8.65434192e-01 -3.75637305e-02 -3.92180282e+01] [-8.18283632e-02 -3.98067420e-03 9.96638487e-01 -1.62555205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.347719421 meters 0.06526760489502827 Centerline is valid? [True, True] Translation: X:151.55, Y:-39.23, Z:-16.26 [[ 8.62229132e-01 5.01259869e-01 7.27974424e-02 1.51547420e+02] [-4.99865070e-01 8.65287613e-01 -3.75800315e-02 -3.92329996e+01] [-8.18280868e-02 -3.98630073e-03 9.96638487e-01 -1.62588519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.377719421 meters 0.06434181825093171 Centerline is valid? [True, True] Translation: X:151.57, Y:-39.25, Z:-16.26 [[ 8.63887007e-01 4.98775580e-01 7.01581145e-02 1.51573100e+02] [-4.97469955e-01 8.66723731e-01 -3.62438683e-02 -3.92502950e+01] [-7.88852592e-02 -3.59094714e-03 9.96877235e-01 -1.62629010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.407719421 meters 0.06332946780761081 Centerline is valid? [True, True] Translation: X:151.60, Y:-39.27, Z:-16.26 [[ 8.65314689e-01 4.96308385e-01 7.00605191e-02 1.51598018e+02] [-4.94996408e-01 8.68139869e-01 -3.62177386e-02 -3.92676606e+01] [-7.87974972e-02 -3.33996402e-03 9.96885048e-01 -1.62649853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.437719421 meters 0.05989889444222812 Centerline is valid? [True, True] Translation: X:151.62, Y:-39.29, Z:-16.27 [[ 8.68151382e-01 4.91257162e-01 7.05661244e-02 1.51622379e+02] [-4.89908964e-01 8.71009767e-01 -3.64855142e-02 -3.92903754e+01] [-7.93875537e-02 -2.89602736e-03 9.96839621e-01 -1.62656307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.467719421 meters 0.0599486992925557 Centerline is valid? [True, True] Translation: X:151.65, Y:-39.30, Z:-16.27 [[ 8.69416611e-01 4.89133470e-01 6.97366803e-02 1.51650066e+02] [-4.87808379e-01 8.72204916e-01 -3.60772842e-02 -3.93031087e+01] [-7.84712826e-02 -2.65194675e-03 9.96912847e-01 -1.62713516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.497719421 meters 0.059195832171056624 Centerline is valid? [True, True] Translation: X:151.68, Y:-39.32, Z:-16.28 [[ 8.70939007e-01 4.86368401e-01 7.00787059e-02 1.51677192e+02] [-4.85019385e-01 8.73750566e-01 -3.62786984e-02 -3.93158523e+01] [-7.88761215e-02 -2.39299735e-03 9.96881553e-01 -1.62772919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.527719421 meters 0.05785722412818186 Centerline is valid? [True, True] Translation: X:151.70, Y:-39.33, Z:-16.28 [[ 8.71199178e-01 4.85884193e-01 7.02035811e-02 1.51704164e+02] [-4.84528275e-01 8.74020045e-01 -3.63498518e-02 -3.93334092e+01] [-7.90211555e-02 -2.34765898e-03 9.96870175e-01 -1.62776585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.557719421 meters 0.05783360963964544 Centerline is valid? [True, True] Translation: X:151.73, Y:-39.35, Z:-16.28 [[ 8.71457280e-01 4.85437920e-01 7.00873440e-02 1.51731556e+02] [-4.84083212e-01 8.74268159e-01 -3.63129378e-02 -3.93475882e+01] [-7.89028102e-02 -2.28293260e-03 9.96879699e-01 -1.62809771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.587719421 meters 0.05804190732859412 Centerline is valid? [True, True] Translation: X:151.76, Y:-39.36, Z:-16.28 [[ 8.71291701e-01 4.85828577e-01 6.94360512e-02 1.51759956e+02] [-4.84498621e-01 8.74051143e-01 -3.59956460e-02 -3.93611016e+01] [-7.81783734e-02 -2.27896340e-03 9.96936782e-01 -1.62845567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.617719421 meters 0.059262275498626865 Centerline is valid? [True, True] Translation: X:151.79, Y:-39.37, Z:-16.29 [[ 8.69561050e-01 4.88746490e-01 7.06431135e-02 1.51790389e+02] [-4.87377539e-01 8.72422082e-01 -3.66448456e-02 -3.93694719e+01] [-7.95406519e-02 -2.56493639e-03 9.96828323e-01 -1.62864538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.647719421 meters 0.0617767726944803 Centerline is valid? [True, True] Translation: X:151.82, Y:-39.37, Z:-16.29 [[ 8.66801335e-01 4.93650288e-01 7.04616115e-02 1.51823153e+02] [-4.92302473e-01 8.69655383e-01 -3.65758048e-02 -3.93746077e+01] [-7.93329763e-02 -2.98446914e-03 9.96843705e-01 -1.62914468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.677719421 meters 0.06278049837986581 Centerline is valid? [True, True] Translation: X:151.85, Y:-39.39, Z:-16.30 [[ 8.65553726e-01 4.95940827e-01 6.97097023e-02 1.51853109e+02] [-4.94628689e-01 8.68350584e-01 -3.61901081e-02 -3.93862348e+01] [-7.84806128e-02 -3.15593572e-03 9.96910645e-01 -1.62953131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.707719421 meters 0.062274939058743775 Centerline is valid? [True, True] Translation: X:151.88, Y:-39.40, Z:-16.30 [[ 8.64445934e-01 4.98070167e-01 6.82593240e-02 1.51881268e+02] [-4.96818290e-01 8.67130549e-01 -3.54428754e-02 -3.94013890e+01] [-7.68427840e-02 -3.27403110e-03 9.97037846e-01 -1.62985614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.737719421 meters 0.06319703657987058 Centerline is valid? [True, True] Translation: X:151.91, Y:-39.41, Z:-16.30 [[ 8.63130740e-01 5.00492973e-01 6.71722329e-02 1.51909691e+02] [-4.99287942e-01 8.65733792e-01 -3.48791210e-02 -3.94145699e+01] [-7.56100268e-02 -3.43304444e-03 9.97131555e-01 -1.63026037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76771942099998 meters 0.0632414962322241 Centerline is valid? [True, True] Translation: X:151.94, Y:-39.43, Z:-16.30 [[ 8.62727303e-01 5.01202251e-01 6.70664192e-02 1.51937655e+02] [-5.00001680e-01 8.65323202e-01 -3.48435998e-02 -3.94299815e+01] [-7.54978193e-02 -3.47279735e-03 9.97139919e-01 -1.63048790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79771942099998 meters 0.06328901669850728 Centerline is valid? [True, True] Translation: X:151.97, Y:-39.44, Z:-16.31 [[ 8.62174340e-01 5.01990755e-01 6.82692393e-02 1.51967091e+02] [-5.00747418e-01 8.64865550e-01 -3.54908995e-02 -3.94445585e+01] [-7.68598166e-02 -3.58630241e-03 9.97035459e-01 -1.63062341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82771942099998 meters 0.06359936854938152 Centerline is valid? [True, True] Translation: X:152.00, Y:-39.46, Z:-16.31 [[ 8.61158875e-01 5.03522074e-01 6.97919262e-02 1.51996903e+02] [-5.02225319e-01 8.63974086e-01 -3.63112599e-02 -3.94569187e+01] [-7.85819366e-02 -3.78150865e-03 9.96900486e-01 -1.63090631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85771942099998 meters 0.06637782805984015 Centerline is valid? [True, True] Translation: X:152.03, Y:-39.47, Z:-16.32 [[ 8.60693343e-01 5.04239735e-01 7.03509764e-02 1.52026645e+02] [-5.02922527e-01 8.63555103e-01 -3.66267131e-02 -3.94666077e+01] [-7.92205888e-02 -3.85672273e-03 9.96849650e-01 -1.63150067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88771942099999 meters 0.06900791039193209 Centerline is valid? [True, True] Translation: X:152.06, Y:-39.48, Z:-16.32 [[ 8.60635242e-01 5.04337339e-01 7.03621289e-02 1.52055326e+02] [-5.03018338e-01 8.63498143e-01 -3.66539066e-02 -3.94793806e+01] [-7.92435013e-02 -3.84779740e-03 9.96847863e-01 -1.63196067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.917719421 meters 0.06314903809886022 Centerline is valid? [True, True] Translation: X:152.08, Y:-39.51, Z:-16.32 [[ 8.60381017e-01 5.04709456e-01 7.08016318e-02 1.52078667e+02] [-5.03373308e-01 8.63280523e-01 -3.69059842e-02 -3.95060341e+01] [-7.97484689e-02 -3.88644344e-03 9.96807442e-01 -1.63176195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.947719421 meters 0.065345399887953 Centerline is valid? [True, True] Translation: X:152.11, Y:-39.51, Z:-16.32 [[ 8.60210444e-01 5.04808441e-01 7.21556028e-02 1.52108229e+02] [-5.03418497e-01 8.63222382e-01 -3.76422087e-02 -3.95147056e+01] [-8.12884361e-02 -3.94424405e-03 9.96682815e-01 -1.63237576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.977719421 meters 0.06547262948776071 Centerline is valid? [True, True] Translation: X:152.14, Y:-39.53, Z:-16.33 [[ 8.60093980e-01 5.04935991e-01 7.26497838e-02 1.52137130e+02] [-5.03525478e-01 8.63147690e-01 -3.79230622e-02 -3.95292951e+01] [-8.18562121e-02 -3.96361961e-03 9.96636268e-01 -1.63266043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.007719421 meters 0.06379710870220809 Centerline is valid? [True, True] Translation: X:152.16, Y:-39.55, Z:-16.33 [[ 8.59955677e-01 5.05372324e-01 7.12393692e-02 1.52162896e+02] [-5.04015825e-01 8.62892545e-01 -3.72089220e-02 -3.95493852e+01] [-8.02762800e-02 -3.90774578e-03 9.96764992e-01 -1.63262883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.037719421 meters 0.0643239562217467 Centerline is valid? [True, True] Translation: X:152.19, Y:-39.56, Z:-16.33 [[ 8.59652322e-01 5.06138280e-01 6.94400938e-02 1.52190235e+02] [-5.04850011e-01 8.62443721e-01 -3.62945461e-02 -3.95648738e+01] [-7.82582320e-02 -3.85614129e-03 9.96925664e-01 -1.63317269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.067719421 meters 0.0676514685544459 Centerline is valid? [True, True] Translation: X:152.22, Y:-39.57, Z:-16.34 [[ 8.59331408e-01 5.06915689e-01 6.77201195e-02 1.52220381e+02] [-5.05692059e-01 8.61987179e-01 -3.54068485e-02 -3.95734261e+01] [-7.63221618e-02 -3.81930966e-03 9.97075895e-01 -1.63407145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.097719421 meters 0.0664024369440711 Centerline is valid? [True, True] Translation: X:152.25, Y:-39.59, Z:-16.35 [[ 8.58744396e-01 5.08171097e-01 6.57282165e-02 1.52247571e+02] [-5.07020259e-01 8.61247787e-01 -3.43904997e-02 -3.95902591e+01] [-7.40845390e-02 -3.79288849e-03 9.97244752e-01 -1.63452994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.127719421 meters 0.06778881439117562 Centerline is valid? [True, True] Translation: X:152.28, Y:-39.60, Z:-16.35 [[ 8.58086246e-01 5.09465170e-01 6.42902500e-02 1.52276469e+02] [-5.08367565e-01 8.60482818e-01 -3.36413333e-02 -3.95998586e+01] [-7.24597431e-02 -3.81591245e-03 9.97364038e-01 -1.63537675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.157719421 meters 0.06667219606920236 Centerline is valid? [True, True] Translation: X:152.30, Y:-39.62, Z:-16.36 [[ 8.57761507e-01 5.09910755e-01 6.50862477e-02 1.52303650e+02] [-5.08786575e-01 8.60218486e-01 -3.40643126e-02 -3.96180033e+01] [-7.33581528e-02 -3.89595295e-03 9.97298051e-01 -1.63550752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.187719421 meters 0.06696140180893627 Centerline is valid? [True, True] Translation: X:152.33, Y:-39.64, Z:-16.35 [[ 8.57315741e-01 5.10510262e-01 6.62494763e-02 1.52330954e+02] [-5.09345574e-01 8.59862363e-01 -3.46958558e-02 -3.96360455e+01] [-7.46780217e-02 -3.99857419e-03 9.97199681e-01 -1.63525640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.217719421 meters 0.06889151279127681 Centerline is valid? [True, True] Translation: X:152.36, Y:-39.65, Z:-16.36 [[ 8.56768606e-01 5.11328100e-01 6.70158942e-02 1.52359487e+02] [-5.10137009e-01 8.59375812e-01 -3.51204409e-02 -3.96472593e+01] [-7.55499069e-02 -4.09719662e-03 9.97133604e-01 -1.63564311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.247719421 meters 0.06850232101356533 Centerline is valid? [True, True] Translation: X:152.39, Y:-39.66, Z:-16.36 [[ 8.56330826e-01 5.11685173e-01 6.98269297e-02 1.52387629e+02] [-5.10391372e-01 8.59162344e-01 -3.66157739e-02 -3.96621162e+01] [-7.87284171e-02 -4.28384651e-03 9.96886897e-01 -1.63583737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.277719421 meters 0.06970239692035043 Centerline is valid? [True, True] Translation: X:152.42, Y:-39.68, Z:-16.36 [[ 8.55744406e-01 5.12533326e-01 7.07891297e-02 1.52415611e+02] [-5.11204377e-01 8.58656061e-01 -3.71463942e-02 -3.96764647e+01] [-7.98222802e-02 -4.39989391e-03 9.96799400e-01 -1.63607272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.307719421 meters 0.06700372428595516 Centerline is valid? [True, True] Translation: X:152.44, Y:-39.70, Z:-16.36 [[ 8.55790956e-01 5.12509072e-01 7.04009296e-02 1.52441418e+02] [-5.11193956e-01 8.58670708e-01 -3.69507089e-02 -3.96980536e+01] [-7.93887896e-02 -4.36644723e-03 9.96834166e-01 -1.63627587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.337719421 meters 0.06646839050771608 Centerline is valid? [True, True] Translation: X:152.47, Y:-39.71, Z:-16.37 [[ 8.56753332e-01 5.10735013e-01 7.15784566e-02 1.52466960e+02] [-5.09366692e-01 8.59727706e-01 -3.76011280e-02 -3.97136014e+01] [-8.07421949e-02 -4.24478998e-03 9.96725980e-01 -1.63672858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.367719421 meters 0.06678392136174695 Centerline is valid? [True, True] Translation: X:152.49, Y:-39.73, Z:-16.37 [[ 8.57413765e-01 5.09595487e-01 7.17918914e-02 1.52494648e+02] [-5.08214394e-01 8.60404133e-01 -3.77207876e-02 -3.97271981e+01] [-8.09923832e-02 -4.14335006e-03 9.96706108e-01 -1.63710062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.397719421 meters 0.06257756231644311 Centerline is valid? [True, True] Translation: X:152.52, Y:-39.75, Z:-16.37 [[ 8.59817482e-01 5.05665347e-01 7.08269332e-02 1.52518104e+02] [-5.04305803e-01 8.62721782e-01 -3.72395479e-02 -3.97513157e+01] [-7.99346869e-02 -3.69921918e-03 9.96793239e-01 -1.63723379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.427719421 meters 0.06224194650731034 Centerline is valid? [True, True] Translation: X:152.54, Y:-39.77, Z:-16.38 [[ 8.60809188e-01 5.03976926e-01 7.08152495e-02 1.52544162e+02] [-5.02612093e-01 8.63709857e-01 -3.72339469e-02 -3.97672850e+01] [-7.99288791e-02 -3.54127717e-03 9.96794279e-01 -1.63756575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.457719421 meters 0.06111838635528222 Centerline is valid? [True, True] Translation: X:152.57, Y:-39.78, Z:-16.38 [[ 8.62207005e-01 5.01725701e-01 6.97882658e-02 1.52570291e+02] [-5.00391303e-01 8.65020607e-01 -3.67136781e-02 -3.97848734e+01] [-7.87884839e-02 -3.26665079e-03 9.96886003e-01 -1.63790548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.487719421 meters 0.06101982261838583 Centerline is valid? [True, True] Translation: X:152.60, Y:-39.80, Z:-16.38 [[ 8.62224079e-01 5.01715540e-01 6.96502313e-02 1.52599016e+02] [-5.00384950e-01 8.65026588e-01 -3.66593021e-02 -3.98000363e+01] [-7.86418435e-02 -3.24339455e-03 9.96897658e-01 -1.63821881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51771942099998 meters 0.06196194443707901 Centerline is valid? [True, True] Translation: X:152.63, Y:-39.81, Z:-16.39 [[ 8.61691611e-01 5.02918279e-01 6.75334943e-02 1.52629156e+02] [-5.01668712e-01 8.64327955e-01 -3.55765252e-02 -3.98111774e+01] [-7.62631718e-02 -3.22344777e-03 9.97082513e-01 -1.63881700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54771942099998 meters 0.06291882838678378 Centerline is valid? [True, True] Translation: X:152.66, Y:-39.82, Z:-16.39 [[ 8.61081153e-01 5.04043702e-01 6.69267861e-02 1.52658365e+02] [-5.02819797e-01 8.63671876e-01 -3.52582191e-02 -3.98218094e+01] [-7.55744662e-02 -3.29192505e-03 9.97134727e-01 -1.63937896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57771942099998 meters 0.06314178878539507 Centerline is valid? [True, True] Translation: X:152.69, Y:-39.84, Z:-16.40 [[ 8.59460626e-01 5.06786716e-01 6.70422065e-02 1.52686913e+02] [-5.05565337e-01 8.62064280e-01 -3.53393089e-02 -3.98350619e+01] [-7.57041838e-02 -3.52147113e-03 9.97124103e-01 -1.63973310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60771942099998 meters 0.06392943489545655 Centerline is valid? [True, True] Translation: X:152.71, Y:-39.85, Z:-16.40 [[ 8.59172022e-01 5.07360861e-01 6.63957324e-02 1.52714612e+02] [-5.06162864e-01 8.61726516e-01 -3.50223753e-02 -3.98482095e+01] [-7.49839457e-02 -3.51680910e-03 9.97178540e-01 -1.64007050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63771942099999 meters 0.06454066906874724 Centerline is valid? [True, True] Translation: X:152.74, Y:-39.86, Z:-16.40 [[ 8.59077876e-01 5.07510305e-01 6.64717433e-02 1.52742976e+02] [-5.06309211e-01 8.61638478e-01 -3.50730216e-02 -3.98621917e+01] [-7.50745316e-02 -3.52479897e-03 9.97171696e-01 -1.64036936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.667719421 meters 0.06454349082092635 Centerline is valid? [True, True] Translation: X:152.77, Y:-39.88, Z:-16.41 [[ 8.58872600e-01 5.07770136e-01 6.71367676e-02 1.52771652e+02] [-5.06544588e-01 8.61485192e-01 -3.54378870e-02 -3.98766888e+01] [-7.58316318e-02 -3.57113609e-03 9.97114242e-01 -1.64065870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.697719421 meters 0.06491165841202516 Centerline is valid? [True, True] Translation: X:152.80, Y:-39.89, Z:-16.41 [[ 8.57847576e-01 5.09247356e-01 6.90265648e-02 1.52800926e+02] [-5.07954686e-01 8.60611872e-01 -3.64587767e-02 -3.98898630e+01] [-7.79716168e-02 -3.78629381e-03 9.96948389e-01 -1.64084928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.727719421 meters 0.06339754907780212 Centerline is valid? [True, True] Translation: X:152.83, Y:-39.91, Z:-16.41 [[ 8.57120041e-01 5.10426224e-01 6.93563637e-02 1.52827906e+02] [-5.09123224e-01 8.59912738e-01 -3.66555153e-02 -3.99068425e+01] [-7.83503568e-02 -3.89275871e-03 9.96918286e-01 -1.64089156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.757719421 meters 0.06770347447181307 Centerline is valid? [True, True] Translation: X:152.86, Y:-39.91, Z:-16.42 [[ 8.55408539e-01 5.13242105e-01 6.97049060e-02 1.52859030e+02] [-5.11933033e-01 8.58233850e-01 -3.68676994e-02 -3.99118542e+01] [-7.87451655e-02 -4.14729914e-03 9.96886151e-01 -1.64150059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.787719421 meters 0.06838895621321785 Centerline is valid? [True, True] Translation: X:152.89, Y:-39.93, Z:-16.42 [[ 8.54936519e-01 5.14160474e-01 6.87208505e-02 1.52887534e+02] [-5.12890136e-01 8.57683911e-01 -3.63595546e-02 -3.99256188e+01] [-7.76354137e-02 -4.16113527e-03 9.96973133e-01 -1.64188301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.817719421 meters 0.06671480802710683 Centerline is valid? [True, True] Translation: X:152.91, Y:-39.94, Z:-16.42 [[ 8.54552189e-01 5.14868153e-01 6.82007425e-02 1.52913584e+02] [-5.13619131e-01 8.57259128e-01 -3.60856858e-02 -3.99439137e+01] [-7.70450794e-02 -4.19210430e-03 9.97018797e-01 -1.64197556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.847719421 meters 0.06582756678322244 Centerline is valid? [True, True] Translation: X:152.94, Y:-39.96, Z:-16.42 [[ 8.55735396e-01 5.12936436e-01 6.79201335e-02 1.52940730e+02] [-5.11689886e-01 8.58417355e-01 -3.59597634e-02 -3.99592756e+01] [-7.67488943e-02 -3.98200297e-03 9.97042502e-01 -1.64238268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.877719421 meters 0.06534038870099451 Centerline is valid? [True, True] Translation: X:152.97, Y:-39.97, Z:-16.43 [[ 8.56498801e-01 5.11559979e-01 6.86745282e-02 1.52968449e+02] [-5.10279489e-01 8.59238795e-01 -3.63804444e-02 -3.99743424e+01] [-7.76185982e-02 -3.88339612e-03 9.96975563e-01 -1.64273509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.907719421 meters 0.06332526726455143 Centerline is valid? [True, True] Translation: X:152.99, Y:-39.99, Z:-16.43 [[ 8.58876012e-01 5.07296453e-01 7.05854450e-02 1.52994071e+02] [-5.05928865e-01 8.61764127e-01 -3.73974978e-02 -3.99924219e+01] [-7.97996224e-02 -3.59140032e-03 9.96804455e-01 -1.64291199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.937719421 meters 0.062289868729574385 Centerline is valid? [True, True] Translation: X:153.02, Y:-40.01, Z:-16.43 [[ 8.60408029e-01 5.04843702e-01 6.95043945e-02 1.53019892e+02] [-5.03509528e-01 8.63204428e-01 -3.68275764e-02 -4.00095762e+01] [-7.85886710e-02 -3.30938247e-03 9.96901634e-01 -1.64325466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.967719421 meters 0.059965872526238785 Centerline is valid? [True, True] Translation: X:153.04, Y:-40.03, Z:-16.43 [[ 8.62265061e-01 5.01729309e-01 6.90410380e-02 1.53044332e+02] [-5.00401404e-01 8.65019521e-01 -3.66014066e-02 -4.00302832e+01] [-7.80858440e-02 -2.98811828e-03 9.96942161e-01 -1.64335039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.997719421 meters 0.05975931186788288 Centerline is valid? [True, True] Translation: X:153.07, Y:-40.04, Z:-16.44 [[ 8.62747814e-01 5.01002895e-01 6.82810971e-02 1.53072861e+02] [-4.99700650e-01 8.65440826e-01 -3.62137728e-02 -4.00449210e+01] [-7.72364540e-02 -2.87675527e-03 9.97008653e-01 -1.64377494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.027719421 meters 0.05977320868207617 Centerline is valid? [True, True] Translation: X:153.10, Y:-40.06, Z:-16.45 [[ 8.63993523e-01 4.99035413e-01 6.69241995e-02 1.53100677e+02] [-4.97776671e-01 8.66577617e-01 -3.55192863e-02 -4.00580527e+01] [-7.57203951e-02 -2.62487193e-03 9.97125635e-01 -1.64461298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.057719421 meters 0.05982173171604087 Centerline is valid? [True, True] Translation: X:153.13, Y:-40.07, Z:-16.45 [[ 8.64170013e-01 4.98794809e-01 6.64373981e-02 1.53129235e+02] [-4.97553010e-01 8.66716271e-01 -3.52690765e-02 -4.00737856e+01] [-7.51744062e-02 -2.57764915e-03 9.97167069e-01 -1.64504868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.087719421 meters 0.05991383063966544 Centerline is valid? [True, True] Translation: X:153.16, Y:-40.09, Z:-16.45 [[ 8.63917702e-01 4.99105415e-01 6.73794354e-02 1.53156392e+02] [-4.97827007e-01 8.66537320e-01 -3.57958596e-02 -4.00901864e+01] [-7.62527027e-02 -2.61862586e-03 9.97085086e-01 -1.64527933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.117719421 meters 0.06007917072872885 Centerline is valid? [True, True] Translation: X:153.18, Y:-40.10, Z:-16.46 [[ 8.63694290e-01 4.99412095e-01 6.79686224e-02 1.53184634e+02] [-4.98110381e-01 8.66360515e-01 -3.61317894e-02 -4.01039452e+01] [-7.69299834e-02 -2.64905628e-03 9.97032978e-01 -1.64550937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.147719421 meters 0.061168275027577976 Centerline is valid? [True, True] Translation: X:153.22, Y:-40.11, Z:-16.46 [[ 8.62123541e-01 5.02046780e-01 6.84983988e-02 1.53215455e+02] [-5.00730977e-01 8.64835655e-01 -3.64387010e-02 -4.01146241e+01] [-7.75337901e-02 -2.88460822e-03 9.96985552e-01 -1.64582459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.177719421 meters 0.06199010177240043 Centerline is valid? [True, True] Translation: X:153.24, Y:-40.13, Z:-16.46 [[ 8.61328669e-01 5.03338710e-01 6.90149810e-02 1.53244321e+02] [-5.02006929e-01 8.64083915e-01 -3.67155500e-02 -4.01264566e+01] [-7.81150925e-02 -3.02184289e-03 9.96939768e-01 -1.64606976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.207719421 meters 0.06367585355462284 Centerline is valid? [True, True] Translation: X:153.27, Y:-40.14, Z:-16.46 [[ 8.59476476e-01 5.06122717e-01 7.16936786e-02 1.53274534e+02] [-5.04693221e-01 8.62454839e-01 -3.81628525e-02 -4.01358978e+01] [-8.11476466e-02 -3.38323959e-03 9.96696350e-01 -1.64622274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.237719421 meters 0.06448648876536252 Centerline is valid? [True, True] Translation: X:153.30, Y:-40.15, Z:-16.46 [[ 8.58821486e-01 5.07176856e-01 7.20922477e-02 1.53302942e+02] [-5.05733170e-01 8.61834969e-01 -3.83985357e-02 -4.01483656e+01] [-8.16064687e-02 -3.48195346e-03 9.96658547e-01 -1.64647053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26771942099998 meters 0.06448648876536252 Centerline is valid? [True, True] Translation: X:153.33, Y:-40.16, Z:-16.47 [[ 8.58682477e-01 5.07412676e-01 7.20886961e-02 1.53331306e+02] [-5.05969260e-01 8.61696088e-01 -3.84052028e-02 -4.01637228e+01] [-8.16058342e-02 -3.49678959e-03 9.96658547e-01 -1.64680316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29771942099998 meters 0.06562645710900376 Centerline is valid? [True, True] Translation: X:153.36, Y:-40.18, Z:-16.47 [[ 8.58001350e-01 5.08745626e-01 7.07924510e-02 1.53360238e+02] [-5.07356160e-01 8.60909628e-01 -3.77404199e-02 -4.01750458e+01] [-8.01461762e-02 -3.53565493e-03 9.96776850e-01 -1.64728563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32771942099998 meters 0.0668570798824702 Centerline is valid? [True, True] Translation: X:153.39, Y:-40.19, Z:-16.48 [[ 8.56689167e-01 5.11083569e-01 6.98373527e-02 1.53389659e+02] [-5.09737504e-01 8.59523124e-01 -3.72515273e-02 -4.01854033e+01] [-7.90654631e-02 -3.68573799e-03 9.96862612e-01 -1.64774826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35771942099998 meters 0.06793901145994735 Centerline is valid? [True, True] Translation: X:153.42, Y:-40.20, Z:-16.48 [[ 8.56201142e-01 5.11857680e-01 7.01521279e-02 1.53418503e+02] [-5.10500685e-01 8.59062035e-01 -3.74362227e-02 -4.01971191e+01] [-7.94270479e-02 -3.75977274e-03 9.96833591e-01 -1.64812142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38771942099999 meters 0.06973577916979197 Centerline is valid? [True, True] Translation: X:153.45, Y:-40.21, Z:-16.48 [[ 8.54981470e-01 5.13798875e-01 7.08336225e-02 1.53449084e+02] [-5.12420322e-01 8.57901526e-01 -3.78204315e-02 -4.02058538e+01] [-8.02003679e-02 -3.96081958e-03 9.96770893e-01 -1.64827088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.417719421 meters 0.07008653015244824 Centerline is valid? [True, True] Translation: X:153.48, Y:-40.22, Z:-16.49 [[ 8.54695031e-01 5.14248654e-01 7.10262408e-02 1.53478448e+02] [-5.12862614e-01 8.57631821e-01 -3.79420596e-02 -4.02200487e+01] [-8.04260173e-02 -3.99781368e-03 9.96752564e-01 -1.64866304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.447719421 meters 0.06635021385378166 Centerline is valid? [True, True] Translation: X:153.50, Y:-40.24, Z:-16.49 [[ 8.54846434e-01 5.14148186e-01 6.99229310e-02 1.53504253e+02] [-5.12802770e-01 8.57692476e-01 -3.73755997e-02 -4.02414107e+01] [-7.91889686e-02 -3.90627456e-03 9.96851969e-01 -1.64869415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.477719421 meters 0.06440721696808577 Centerline is valid? [True, True] Translation: X:153.53, Y:-40.26, Z:-16.49 [[ 8.55420829e-01 5.13342308e-01 6.88104655e-02 1.53530158e+02] [-5.12034820e-01 8.58175754e-01 -3.68064944e-02 -4.02603169e+01] [-7.79458040e-02 -3.74831232e-03 9.96950551e-01 -1.64893648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.507719421 meters 0.06311645871378277 Centerline is valid? [True, True] Translation: X:153.56, Y:-40.28, Z:-16.49 [[ 8.56333123e-01 5.11973892e-01 6.76484705e-02 1.53556597e+02] [-5.10704297e-01 8.58993702e-01 -3.62069268e-02 -4.02778700e+01] [-7.66466113e-02 -3.54317387e-03 9.97052026e-01 -1.64935785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.537719421 meters 0.06222723664405837 Centerline is valid? [True, True] Translation: X:153.58, Y:-40.29, Z:-16.50 [[ 8.57640825e-01 5.09868786e-01 6.69778832e-02 1.53582913e+02] [-5.08616076e-01 8.60245850e-01 -3.58714981e-02 -4.02942433e+01] [-7.59072033e-02 -3.30116686e-03 9.97109422e-01 -1.64979461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.567719421 meters 0.06295153406277586 Centerline is valid? [True, True] Translation: X:153.61, Y:-40.31, Z:-16.50 [[ 8.57794646e-01 5.09650590e-01 6.66679920e-02 1.53610784e+02] [-5.08407383e-01 8.60375331e-01 -3.57242537e-02 -4.03077605e+01] [-7.55663827e-02 -3.25042577e-03 9.97135476e-01 -1.65034588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.597719421 meters 0.06125611617016146 Centerline is valid? [True, True] Translation: X:153.64, Y:-40.33, Z:-16.50 [[ 8.58332306e-01 5.08815879e-01 6.61215093e-02 1.53636921e+02] [-5.07588645e-01 8.60869682e-01 -3.54564251e-02 -4.03285463e+01] [-7.49627948e-02 -3.12913215e-03 9.97181422e-01 -1.65028303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.627719421 meters 0.06124291430545007 Centerline is valid? [True, True] Translation: X:153.66, Y:-40.34, Z:-16.51 [[ 8.58478764e-01 5.08584471e-01 6.60003634e-02 1.53664778e+02] [-5.07360842e-01 8.61006516e-01 -3.53942819e-02 -4.03440490e+01] [-7.48277250e-02 -3.10076056e-03 9.97191655e-01 -1.65073658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.657719421 meters 0.06274642876897399 Centerline is valid? [True, True] Translation: X:153.69, Y:-40.35, Z:-16.51 [[ 8.57154260e-01 5.11084079e-01 6.38720461e-02 1.53694929e+02] [-5.09943075e-01 8.59524813e-01 -3.42805397e-02 -4.03544303e+01] [-7.24198466e-02 -3.18739694e-03 9.97369142e-01 -1.65143394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.687719421 meters 0.06318764832878129 Centerline is valid? [True, True] Translation: X:153.72, Y:-40.37, Z:-16.52 [[ 8.55798906e-01 5.13341178e-01 6.39458220e-02 1.53723333e+02] [-5.12203892e-01 8.58177947e-01 -3.43188600e-02 -4.03677002e+01] [-7.24941783e-02 -3.38325607e-03 9.97363097e-01 -1.65176839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.717719421 meters 0.06584656252755794 Centerline is valid? [True, True] Translation: X:153.75, Y:-40.38, Z:-16.52 [[ 8.53553085e-01 5.17170295e-01 6.31032234e-02 1.53752290e+02] [-5.16071436e-01 8.55874788e-01 -3.38912959e-02 -4.03781744e+01] [-7.15360294e-02 -3.63775098e-03 9.97431383e-01 -1.65205499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.747719421 meters 0.06668916919445023 Centerline is valid? [True, True] Translation: X:153.78, Y:-40.39, Z:-16.52 [[ 8.52712693e-01 5.18549597e-01 6.31456938e-02 1.53781128e+02] [-5.17452753e-01 8.55039316e-01 -3.39177918e-02 -4.03915071e+01] [-7.15801081e-02 -3.75278150e-03 9.97427794e-01 -1.65232896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.777719421 meters 0.06692304543577293 Centerline is valid? [True, True] Translation: X:153.81, Y:-40.41, Z:-16.53 [[ 8.51662925e-01 5.20269737e-01 6.31637755e-02 1.53809352e+02] [-5.19175403e-01 8.53993178e-01 -3.39492731e-02 -4.04053965e+01] [-7.16042127e-02 -3.87974138e-03 9.97425578e-01 -1.65258954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.807719421 meters 0.06810496675354866 Centerline is valid? [True, True] Translation: X:153.84, Y:-40.42, Z:-16.53 [[ 8.51404919e-01 5.20608161e-01 6.38498782e-02 1.53837273e+02] [-5.19489351e-01 8.53786667e-01 -3.43386299e-02 -4.04175795e+01] [-7.23911456e-02 -3.93325336e-03 9.97368564e-01 -1.65305245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.837719421 meters 0.06894743959821371 Centerline is valid? [True, True] Translation: X:153.87, Y:-40.43, Z:-16.54 [[ 8.51282493e-01 5.20813167e-01 6.38103645e-02 1.53865147e+02] [-5.19694940e-01 8.53661633e-01 -3.43363578e-02 -4.04325925e+01] [-7.23552873e-02 -3.93198324e-03 9.97371171e-01 -1.65350042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.867719421 meters 0.06710064648741415 Centerline is valid? [True, True] Translation: X:153.89, Y:-40.45, Z:-16.54 [[ 8.51177151e-01 5.20855457e-01 6.48617793e-02 1.53891912e+02] [-5.19697996e-01 8.53635629e-01 -3.49314545e-02 -4.04517924e+01] [-7.35625645e-02 -3.97568074e-03 9.97282680e-01 -1.65359356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.897719421 meters 0.06910281815303251 Centerline is valid? [True, True] Translation: X:153.92, Y:-40.47, Z:-16.54 [[ 8.51382269e-01 5.20623888e-01 6.40234201e-02 1.53920466e+02] [-5.19495433e-01 8.53777215e-01 -3.44813262e-02 -4.04658942e+01] [-7.26135394e-02 -3.90308462e-03 9.97352515e-01 -1.65417014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.927719421 meters 0.06608835766159908 Centerline is valid? [True, True] Translation: X:153.95, Y:-40.49, Z:-16.54 [[ 8.51602894e-01 5.20238736e-01 6.42196827e-02 1.53945225e+02] [-5.19100522e-01 8.54012145e-01 -3.46107633e-02 -4.04879353e+01] [-7.28502487e-02 -3.86184461e-03 9.97335414e-01 -1.65416344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.957719421 meters 0.0658652530608104 Centerline is valid? [True, True] Translation: X:153.97, Y:-40.50, Z:-16.54 [[ 8.52074855e-01 5.19300873e-01 6.55365906e-02 1.53972485e+02] [-5.18110464e-01 8.54582883e-01 -3.53503040e-02 -4.05039294e+01] [-7.43638922e-02 -3.83408821e-03 9.97223802e-01 -1.65443525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.987719421 meters 0.0652569609319553 Centerline is valid? [True, True] Translation: X:154.00, Y:-40.52, Z:-16.55 [[ 8.52162765e-01 5.19088608e-01 6.60729822e-02 1.53999506e+02] [-5.17878097e-01 8.54711769e-01 -3.56380344e-02 -4.05211065e+01] [-7.49726531e-02 -3.84834433e-03 9.97178164e-01 -1.65475470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01771942099998 meters 0.0671401387640547 Centerline is valid? [True, True] Translation: X:154.03, Y:-40.53, Z:-16.56 [[ 8.53820117e-01 5.16690293e-01 6.34219950e-02 1.54026565e+02] [-5.15566932e-01 8.56165336e-01 -3.42294629e-02 -4.05341485e+01] [-7.19857449e-02 -3.47247936e-03 9.97399616e-01 -1.65562345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04771942099998 meters 0.06506858770592706 Centerline is valid? [True, True] Translation: X:154.05, Y:-40.55, Z:-16.56 [[ 8.54374733e-01 5.15799492e-01 6.32036330e-02 1.54052730e+02] [-5.14679735e-01 8.56702725e-01 -3.41351973e-02 -4.05540991e+01] [-7.17536420e-02 -3.36537896e-03 9.97416708e-01 -1.65587921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07771942099998 meters 0.06439156893065132 Centerline is valid? [True, True] Translation: X:154.08, Y:-40.57, Z:-16.56 [[ 8.55258151e-01 5.14346981e-01 6.30926127e-02 1.54079343e+02] [-5.13226693e-01 8.57576085e-01 -3.40825598e-02 -4.05712185e+01] [-7.16369775e-02 -3.23142582e-03 9.97425537e-01 -1.65623841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10771942099998 meters 0.06403936749976386 Centerline is valid? [True, True] Translation: X:154.11, Y:-40.59, Z:-16.57 [[ 8.55506988e-01 5.13978192e-01 6.27233009e-02 1.54106886e+02] [-5.12868544e-01 8.57797416e-01 -3.39035314e-02 -4.05883300e+01] [-7.12295612e-02 -3.16410001e-03 9.97454930e-01 -1.65654282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13771942099999 meters 0.06354191365936598 Centerline is valid? [True, True] Translation: X:154.13, Y:-40.61, Z:-16.57 [[ 8.55522143e-01 5.14045133e-01 6.19634144e-02 1.54134190e+02] [-5.12960998e-01 8.57757486e-01 -3.35128311e-02 -4.06057423e+01] [-7.03766903e-02 -3.11384582e-03 9.97515627e-01 -1.65692145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.167719421 meters 0.06475454835934723 Centerline is valid? [True, True] Translation: X:154.16, Y:-40.62, Z:-16.57 [[ 8.54984589e-01 5.14965430e-01 6.17410527e-02 1.54162755e+02] [-5.13889957e-01 8.57205122e-01 -3.34139212e-02 -4.06173226e+01] [-7.01317609e-02 -3.15971926e-03 9.97532732e-01 -1.65746893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.197719421 meters 0.0650042841248295 Centerline is valid? [True, True] Translation: X:154.19, Y:-40.63, Z:-16.58 [[ 8.53749360e-01 5.16965321e-01 6.21199442e-02 1.54192742e+02] [-5.15880068e-01 8.55999893e-01 -3.36442902e-02 -4.06295202e+01] [-7.05675969e-02 -3.32264983e-03 9.97501466e-01 -1.65787157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.227719421 meters 0.06590562921757301 Centerline is valid? [True, True] Translation: X:154.22, Y:-40.64, Z:-16.58 [[ 8.53272485e-01 5.17743310e-01 6.21926966e-02 1.54220549e+02] [-5.16657563e-01 8.55529290e-01 -3.36837603e-02 -4.06424727e+01] [-7.06472152e-02 -3.39090120e-03 9.97495600e-01 -1.65820786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.257719421 meters 0.06611417177403751 Centerline is valid? [True, True] Translation: X:154.25, Y:-40.66, Z:-16.58 [[ 8.52811287e-01 5.18287437e-01 6.39612446e-02 1.54248238e+02] [-5.17139016e-01 8.55199255e-01 -3.46622546e-02 -4.06570925e+01] [-7.26646199e-02 -3.51649311e-03 9.97350233e-01 -1.65832890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.287719421 meters 0.06814448415810259 Centerline is valid? [True, True] Translation: X:154.28, Y:-40.67, Z:-16.59 [[ 8.52614480e-01 5.18428143e-01 6.54278945e-02 1.54277573e+02] [-5.17225061e-01 8.55113661e-01 -3.54804586e-02 -4.06673119e+01] [-7.43423548e-02 -3.58979395e-03 9.97226317e-01 -1.65867936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.317719421 meters 0.06691354155614371 Centerline is valid? [True, True] Translation: X:154.30, Y:-40.69, Z:-16.59 [[ 8.52361212e-01 5.18719229e-01 6.64132967e-02 1.54304717e+02] [-5.17479756e-01 8.54936812e-01 -3.60242977e-02 -4.06853303e+01] [-7.54656681e-02 -3.66182246e-03 9.97141677e-01 -1.65870210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.347719421 meters 0.06459868568637296 Centerline is valid? [True, True] Translation: X:154.33, Y:-40.71, Z:-16.59 [[ 8.52077338e-01 5.19140668e-01 6.67620996e-02 1.54331568e+02] [-5.17887896e-01 8.54680797e-01 -3.62334286e-02 -4.07053972e+01] [-7.58705308e-02 -3.70159990e-03 9.97110807e-01 -1.65873479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.377719421 meters 0.06589081403598453 Centerline is valid? [True, True] Translation: X:154.36, Y:-40.72, Z:-16.59 [[ 8.50722083e-01 5.21237419e-01 6.77014795e-02 1.54360622e+02] [-5.19953510e-01 8.53402714e-01 -3.67716520e-02 -4.07162025e+01] [-7.69433873e-02 -3.91916554e-03 9.97027761e-01 -1.65914922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.407719421 meters 0.06636722782518835 Centerline is valid? [True, True] Translation: X:154.39, Y:-40.73, Z:-16.60 [[ 8.49063462e-01 5.23904688e-01 6.79346404e-02 1.54389889e+02] [-5.22618728e-01 8.51766752e-01 -3.69197202e-02 -4.07278281e+01] [-7.72068825e-02 -4.15672990e-03 9.97006429e-01 -1.65959722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.437719421 meters 0.0697187701454547 Centerline is valid? [True, True] Translation: X:154.42, Y:-40.74, Z:-16.60 [[ 8.48412721e-01 5.24880277e-01 6.85313805e-02 1.54420036e+02] [-5.23573140e-01 8.51165379e-01 -3.72647870e-02 -4.07364922e+01] [-7.78910902e-02 -4.26527074e-03 9.96952750e-01 -1.66011435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.467719421 meters 0.06738557106466156 Centerline is valid? [True, True] Translation: X:154.45, Y:-40.76, Z:-16.60 [[ 8.48608763e-01 5.24697983e-01 6.74921792e-02 1.54446325e+02] [-5.23428172e-01 8.51278251e-01 -3.67190438e-02 -4.07582146e+01] [-7.67210325e-02 -4.16720564e-03 9.97043889e-01 -1.66016054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.497719421 meters 0.06696497804974898 Centerline is valid? [True, True] Translation: X:154.47, Y:-40.77, Z:-16.61 [[ 8.49329396e-01 5.23543371e-01 6.73937331e-02 1.54474291e+02] [-5.22271182e-01 8.51989496e-01 -3.66975519e-02 -4.07744756e+01] [-7.66315128e-02 -4.02949506e-03 9.97051340e-01 -1.66058662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.527719421 meters 0.06604744097683772 Centerline is valid? [True, True] Translation: X:154.50, Y:-40.79, Z:-16.61 [[ 8.51141582e-01 5.20736047e-01 6.62719965e-02 1.54499019e+02] [-5.19496785e-01 8.53709690e-01 -3.60950871e-02 -4.07923871e+01] [-7.53730585e-02 -3.70605959e-03 9.97148518e-01 -1.66104404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.557719421 meters 0.06452869419144315 Centerline is valid? [True, True] Translation: X:154.52, Y:-40.81, Z:-16.62 [[ 8.53459899e-01 5.17061863e-01 6.52168010e-02 1.54523904e+02] [-5.15850696e-01 8.55941582e-01 -3.55256023e-02 -4.08105827e+01] [-7.41907059e-02 -3.32245522e-03 9.97238537e-01 -1.66160893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.587719421 meters 0.06393607183383777 Centerline is valid? [True, True] Translation: X:154.55, Y:-40.83, Z:-16.62 [[ 8.54243021e-01 5.15702592e-01 6.57244102e-02 1.54550650e+02] [-5.14467988e-01 8.56761602e-01 -3.58084710e-02 -4.08265605e+01] [-7.47766723e-02 -3.22396866e-03 9.97195094e-01 -1.66203606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.617719421 meters 0.06331590308029549 Centerline is valid? [True, True] Translation: X:154.58, Y:-40.84, Z:-16.62 [[ 8.55991652e-01 5.12681640e-01 6.66020127e-02 1.54576004e+02] [-5.11403140e-01 8.58573610e-01 -3.63068226e-02 -4.08428588e+01] [-7.57965718e-02 -2.98214137e-03 9.97118843e-01 -1.66237688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.647719421 meters 0.06263314262668002 Centerline is valid? [True, True] Translation: X:154.60, Y:-40.86, Z:-16.63 [[ 8.56325516e-01 5.12182594e-01 6.61483232e-02 1.54602771e+02] [-5.10920099e-01 8.58871626e-01 -3.60580393e-02 -4.08604737e+01] [-7.52812180e-02 -2.91908878e-03 9.97158070e-01 -1.66258856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.677719421 meters 0.061448894807344986 Centerline is valid? [True, True] Translation: X:154.63, Y:-40.88, Z:-16.63 [[ 8.56400918e-01 5.12184486e-01 6.51499752e-02 1.54629334e+02] [-5.10958362e-01 8.58870704e-01 -3.55340183e-02 -4.08781933e+01] [-7.41553780e-02 -2.85755869e-03 9.97242606e-01 -1.66283098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.707719421 meters 0.06184697765437105 Centerline is valid? [True, True] Translation: X:154.66, Y:-40.89, Z:-16.63 [[ 8.56053020e-01 5.12795351e-01 6.49165198e-02 1.54658566e+02] [-5.11578161e-01 8.58506043e-01 -3.54282305e-02 -4.08918679e+01] [-7.38986564e-02 -2.88143006e-03 9.97261594e-01 -1.66319298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.737719421 meters 0.06375517332922226 Centerline is valid? [True, True] Translation: X:154.69, Y:-40.90, Z:-16.64 [[ 8.54023929e-01 5.16231696e-01 6.44046946e-02 1.54687929e+02] [-5.15041453e-01 8.56443246e-01 -3.51748288e-02 -4.09007440e+01] [-7.33173272e-02 -3.13094204e-03 9.97303748e-01 -1.66365481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76771942099998 meters 0.06501060013263374 Centerline is valid? [True, True] Translation: X:154.72, Y:-40.91, Z:-16.64 [[ 8.52982022e-01 5.18028041e-01 6.37857282e-02 1.54716573e+02] [-5.16865221e-01 8.55357464e-01 -3.48418180e-02 -4.09122544e+01] [-7.26086374e-02 -3.24918014e-03 9.97355217e-01 -1.66403545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79771942099998 meters 0.06652513893310402 Centerline is valid? [True, True] Translation: X:154.75, Y:-40.92, Z:-16.65 [[ 8.51519085e-01 5.20395409e-01 6.40614354e-02 1.54747183e+02] [-5.19227334e-01 8.53918471e-01 -3.50174346e-02 -4.09228579e+01] [-7.29261552e-02 -3.44443451e-03 9.97331395e-01 -1.66450821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82771942099998 meters 0.06766463496710232 Centerline is valid? [True, True] Translation: X:154.78, Y:-40.94, Z:-16.65 [[ 8.49845994e-01 5.23021930e-01 6.48833335e-02 1.54776786e+02] [-5.21830801e-01 8.52311143e-01 -3.54729500e-02 -4.09352489e+01] [-7.38539190e-02 -3.71157744e-03 9.97262164e-01 -1.66472182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85771942099998 meters 0.06913247333814312 Centerline is valid? [True, True] Translation: X:154.81, Y:-40.95, Z:-16.65 [[ 8.48661764e-01 5.25056621e-01 6.39433772e-02 1.54805373e+02] [-5.23905459e-01 8.51058675e-01 -3.49600086e-02 -4.09473968e+01] [-7.27755498e-02 -3.83106180e-03 9.97340986e-01 -1.66507493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88771942099999 meters 0.07239844869964736 Centerline is valid? [True, True] Translation: X:154.84, Y:-40.95, Z:-16.66 [[ 8.46300275e-01 5.28874366e-01 6.37789112e-02 1.54835787e+02] [-5.27738214e-01 8.48690084e-01 -3.48929606e-02 -4.09539734e+01] [-7.25825219e-02 -4.12864655e-03 9.97353865e-01 -1.66551146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.917719421 meters 0.0733975638032304 Centerline is valid? [True, True] Translation: X:154.86, Y:-40.97, Z:-16.66 [[ 8.45172453e-01 5.30562491e-01 6.47067858e-02 1.54864447e+02] [-5.29398347e-01 8.47634709e-01 -3.53947854e-02 -4.09671455e+01] [-7.36268631e-02 -4.34096783e-03 9.97276412e-01 -1.66578480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.947719421 meters 0.07489435133302139 Centerline is valid? [True, True] Translation: X:154.89, Y:-40.98, Z:-16.66 [[ 8.44193596e-01 5.31998872e-01 6.56838863e-02 1.54892837e+02] [-5.30802084e-01 8.46733014e-01 -3.59492798e-02 -4.09806467e+01] [-7.47416913e-02 -4.51699186e-03 9.97192698e-01 -1.66586345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.977719421 meters 0.07513853816129837 Centerline is valid? [True, True] Translation: X:154.92, Y:-41.00, Z:-16.66 [[ 8.43801006e-01 5.32588663e-01 6.59483030e-02 1.54920742e+02] [-5.31382561e-01 8.46361872e-01 -3.61130994e-02 -4.09957757e+01] [-7.50495564e-02 -4.57150856e-03 9.97169326e-01 -1.66617907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.007719421 meters 0.07538967861876548 Centerline is valid? [True, True] Translation: X:154.95, Y:-41.01, Z:-16.67 [[ 8.44149454e-01 5.32003758e-01 6.62095204e-02 1.54948125e+02] [-5.30784648e-01 8.46729933e-01 -3.62777885e-02 -4.10101695e+01] [-7.53615026e-02 -4.51912159e-03 9.97146038e-01 -1.66683695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.037719421 meters 0.0750316415413497 Centerline is valid? [True, True] Translation: X:154.98, Y:-41.03, Z:-16.67 [[ 8.44706961e-01 5.31146278e-01 6.59831936e-02 1.54975388e+02] [-5.29931489e-01 8.47268653e-01 -3.61724642e-02 -4.10263185e+01] [-7.51183613e-02 -4.41143968e-03 9.97164867e-01 -1.66726014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.067719421 meters 0.07062703300284436 Centerline is valid? [True, True] Translation: X:155.00, Y:-41.05, Z:-16.67 [[ 8.46719635e-01 5.28014426e-01 6.53194066e-02 1.54997428e+02] [-5.26812727e-01 8.49225653e-01 -3.58349110e-02 -4.10510584e+01] [-7.43922656e-02 -4.06897196e-03 9.97220755e-01 -1.66735082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.097719421 meters 0.06924610342949614 Centerline is valid? [True, True] Translation: X:155.02, Y:-41.07, Z:-16.68 [[ 8.48001649e-01 5.25868454e-01 6.59967518e-02 1.55023069e+02] [-5.24634966e-01 8.50556885e-01 -3.62096269e-02 -4.10707154e+01] [-7.51754922e-02 -3.91838035e-03 9.97162620e-01 -1.66757805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.127719421 meters 0.06699029880703276 Centerline is valid? [True, True] Translation: X:155.05, Y:-41.09, Z:-16.68 [[ 8.50275056e-01 5.22220866e-01 6.57091764e-02 1.55046483e+02] [-5.20986994e-01 8.52802775e-01 -3.60552153e-02 -4.10924980e+01] [-7.48657538e-02 -3.57677609e-03 9.97187207e-01 -1.66777511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.157719421 meters 0.06699029880703276 Centerline is valid? [True, True] Translation: X:155.07, Y:-41.11, Z:-16.68 [[ 8.50129477e-01 5.22457900e-01 6.57085650e-02 1.55074666e+02] [-5.21224647e-01 8.52657498e-01 -3.60563314e-02 -4.11082109e+01] [-7.48648158e-02 -3.59637350e-03 9.97187207e-01 -1.66810766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.187719421 meters 0.06436120361477064 Centerline is valid? [True, True] Translation: X:155.10, Y:-41.13, Z:-16.68 [[ 8.51073702e-01 5.20908681e-01 6.57852511e-02 1.55098783e+02] [-5.19665909e-01 8.53605474e-01 -3.61253042e-02 -4.11296153e+01] [-7.49726350e-02 -3.44105599e-03 9.97179654e-01 -1.66816926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.217719421 meters 0.06408764567662491 Centerline is valid? [True, True] Translation: X:155.13, Y:-41.15, Z:-16.69 [[ 8.51701642e-01 5.19805694e-01 6.63803683e-02 1.55125045e+02] [-5.18535836e-01 8.54277906e-01 -3.64670641e-02 -4.11456716e+01] [-7.56630696e-02 -3.36154141e-03 9.97127775e-01 -1.66852652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.247719421 meters 0.0644574822719487 Centerline is valid? [True, True] Translation: X:155.15, Y:-41.16, Z:-16.69 [[ 8.51418392e-01 5.20243064e-01 6.65873599e-02 1.55153790e+02] [-5.18965152e-01 8.54011493e-01 -3.65997473e-02 -4.11607721e+01] [-7.59071353e-02 -3.39482132e-03 9.97109112e-01 -1.66907946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.277719421 meters 0.06598295940543644 Centerline is valid? [True, True] Translation: X:155.18, Y:-41.17, Z:-16.70 [[ 8.50635842e-01 5.21637571e-01 6.56727457e-02 1.55181074e+02] [-5.20396544e-01 8.53160225e-01 -3.61257205e-02 -4.11736971e+01] [-7.48739076e-02 -3.44603724e-03 9.97187055e-01 -1.66969543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.307719421 meters 0.06636962599139568 Centerline is valid? [True, True] Translation: X:155.21, Y:-41.19, Z:-16.70 [[ 8.49927439e-01 5.22659679e-01 6.67098825e-02 1.55208482e+02] [-5.21381515e-01 8.52533878e-01 -3.67056255e-02 -4.11915365e+01] [-7.60569853e-02 -3.58418134e-03 9.97097031e-01 -1.66978651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.337719421 meters 0.06970644720951738 Centerline is valid? [True, True] Translation: X:155.24, Y:-41.20, Z:-16.70 [[ 8.48923991e-01 5.24322242e-01 6.64397818e-02 1.55237558e+02] [-5.23057824e-01 8.51511892e-01 -3.65788255e-02 -4.12025767e+01] [-7.57533561e-02 -3.69920521e-03 9.97119724e-01 -1.67028462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.367719421 meters 0.06911581944331507 Centerline is valid? [True, True] Translation: X:155.26, Y:-41.22, Z:-16.70 [[ 8.47504502e-01 5.26443542e-01 6.77740071e-02 1.55264653e+02] [-5.25132563e-01 8.50200934e-01 -3.73385025e-02 -4.12210665e+01] [-7.72781377e-02 -3.94578909e-03 9.97001765e-01 -1.67019751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.397719421 meters 0.07056202788608971 Centerline is valid? [True, True] Translation: X:155.29, Y:-41.23, Z:-16.71 [[ 8.46348149e-01 5.28299141e-01 6.77851679e-02 1.55292934e+02] [-5.26993507e-01 8.49048344e-01 -3.73464023e-02 -4.12337026e+01] [-7.72829568e-02 -4.11428490e-03 9.97000711e-01 -1.67054573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.427719421 meters 0.06986249280442652 Centerline is valid? [True, True] Translation: X:155.32, Y:-41.25, Z:-16.71 [[ 8.45244771e-01 5.29984891e-01 6.83907351e-02 1.55320549e+02] [-5.28659374e-01 8.47996253e-01 -3.77043889e-02 -4.12499996e+01] [-7.79778435e-02 -4.28596565e-03 9.96945879e-01 -1.67077687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.457719421 meters 0.07136825642851569 Centerline is valid? [True, True] Translation: X:155.35, Y:-41.26, Z:-16.71 [[ 8.44061147e-01 5.31743326e-01 6.93528279e-02 1.55347471e+02] [-5.30385635e-01 8.46893576e-01 -3.82406803e-02 -4.12639470e+01] [-7.90686910e-02 -4.50627116e-03 9.96858985e-01 -1.67114216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.487719421 meters 0.07106583043819824 Centerline is valid? [True, True] Translation: X:155.88, Y:-40.44, Z:-16.00 [[ 9.25306341e-01 -3.62704038e-01 -1.10697591e-01 1.55879172e+02] [-3.58187248e-01 -9.31784841e-01 5.89822477e-02 -4.04390581e+01] [-1.24539437e-01 -1.49261821e-02 -9.92102383e-01 -1.60037862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51771942099998 meters 0.06964561623075222 Centerline is valid? [True, True] Translation: X:155.89, Y:-40.40, Z:-16.01 [[ 9.50228373e-01 -2.90069145e-01 -1.13692263e-01 1.55888174e+02] [-2.86167907e-01 -9.56894184e-01 4.96129915e-02 -4.04009154e+01] [-1.23182663e-01 -1.46085952e-02 -9.92276484e-01 -1.60077243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54771942099998 meters 0.06750922432036735 Centerline is valid? [True, True] Translation: X:155.89, Y:-40.36, Z:-16.01 [[ 9.69027353e-01 -2.17637342e-01 -1.16704652e-01 1.55894836e+02] [-2.14327138e-01 -9.75927981e-01 4.03541073e-02 -4.03597945e+01] [-1.22677896e-01 -1.40912597e-02 -9.92346497e-01 -1.60121767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57771942099998 meters 0.06690826530153922 Centerline is valid? [True, True] Translation: X:155.90, Y:-40.32, Z:-16.02 [[ 9.82669196e-01 -1.43007482e-01 -1.17941132e-01 1.55895720e+02] [-1.40331723e-01 -9.89627505e-01 3.07312232e-02 -4.03211282e+01] [-1.21112583e-01 -1.36477441e-02 -9.92544952e-01 -1.60161839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60771942099998 meters 0.06587633392136708 Centerline is valid? [True, True] Translation: X:155.90, Y:-40.28, Z:-16.02 [[ 9.90486141e-01 -6.67214958e-02 -1.20355503e-01 1.55895507e+02] [-6.46071580e-02 -9.97681521e-01 2.13892077e-02 -4.02793551e+01] [-1.21503581e-01 -1.34098868e-02 -9.92500405e-01 -1.60189413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63771942099999 meters 0.06384985277084088 Centerline is valid? [True, True] Translation: X:155.89, Y:-40.24, Z:-16.02 [[ 9.92403641e-01 1.20174342e-02 -1.22436084e-01 1.55886824e+02] [ 1.35713166e-02 -9.99837504e-01 1.18653145e-02 -4.02415778e+01] [-1.22273598e-01 -1.34368001e-02 -9.92405471e-01 -1.60223132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.667719421 meters 0.06787706229296296 Centerline is valid? [True, True] Translation: X:155.88, Y:-40.22, Z:-16.02 [[ 9.88024585e-01 9.19613114e-02 -1.23897286e-01 1.55875324e+02] [ 9.29392889e-02 -9.95669511e-01 2.12456928e-03 -4.02180425e+01] [-1.23165372e-01 -1.36140524e-02 -9.92292774e-01 -1.60190879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.697719421 meters 0.06694623566207072 Centerline is valid? [True, True] Translation: X:155.86, Y:-40.18, Z:-16.02 [[ 9.77194520e-01 1.72484715e-01 -1.23854326e-01 1.55861690e+02] [ 1.72874458e-01 -9.84913961e-01 -7.67539467e-03 -4.01830377e+01] [-1.23309743e-01 -1.39108959e-02 -9.92270726e-01 -1.60236071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.727719421 meters 0.06786693345276787 Centerline is valid? [True, True] Translation: X:155.85, Y:-40.15, Z:-16.03 [[ 9.60322036e-01 2.50278030e-01 -1.23054845e-01 1.55846249e+02] [ 2.50060744e-01 -9.68072717e-01 -1.74596080e-02 -4.01519860e+01] [-1.23495794e-01 -1.40043397e-02 -9.92246274e-01 -1.60252285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.757719421 meters 0.07283604823409857 Centerline is valid? [True, True] Translation: X:155.83, Y:-40.13, Z:-16.03 [[ 9.36897781e-01 3.28154460e-01 -1.20570303e-01 1.55829506e+02] [ 3.27360624e-01 -9.44516383e-01 -2.69039842e-02 -4.01282476e+01] [-1.22709289e-01 -1.42636866e-02 -9.92340152e-01 -1.60261675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.787719421 meters 0.0682571881394331 Centerline is valid? [True, True] Translation: X:156.06, Y:-41.07, Z:-16.74 [[ 9.70979907e-01 -2.27676783e-01 7.32209163e-02 1.56057833e+02] [ 2.26716073e-01 9.73728266e-01 2.12858184e-02 -4.10653273e+01] [-7.61435625e-02 -4.06774337e-03 9.97088567e-01 -1.67392077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.817719421 meters 0.07441592143655025 Centerline is valid? [True, True] Translation: X:156.08, Y:-41.05, Z:-16.75 [[ 9.71332110e-01 -2.26143727e-01 7.33003871e-02 1.56082455e+02] [ 2.25174674e-01 9.74084818e-01 2.13338601e-02 -4.10483413e+01] [-7.62253129e-02 -4.21687262e-03 9.97081702e-01 -1.67452913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.847719421 meters 0.06948555607086816 Centerline is valid? [True, True] Translation: X:156.11, Y:-41.05, Z:-16.74 [[ 9.71211335e-01 -2.26488708e-01 7.38336521e-02 1.56113401e+02] [ 2.25506486e-01 9.74004648e-01 2.14888324e-02 -4.10488333e+01] [-7.67812982e-02 -4.22023015e-03 9.97039027e-01 -1.67445874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.877719421 meters 0.06850426593878843 Centerline is valid? [True, True] Translation: X:156.14, Y:-41.04, Z:-16.75 [[ 9.70500428e-01 -2.28619872e-01 7.65628712e-02 1.56142737e+02] [ 2.27568052e-01 9.73506589e-01 2.23092437e-02 -4.10435161e+01] [-7.96347960e-02 -4.22786714e-03 9.96815141e-01 -1.67451725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.907719421 meters 0.07486454300284906 Centerline is valid? [True, True] Translation: X:156.17, Y:-41.03, Z:-16.75 [[ 9.70093445e-01 -2.29725947e-01 7.83881212e-02 1.56166901e+02] [ 2.28626651e-01 9.73246126e-01 2.28436765e-02 -4.10259400e+01] [-8.15387205e-02 -4.23888718e-03 9.96661161e-01 -1.67499834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.937719421 meters 0.06589564559026646 Centerline is valid? [True, True] Translation: X:156.20, Y:-41.04, Z:-16.75 [[ 9.69083333e-01 -2.33999544e-01 7.82413416e-02 1.56201269e+02] [ 2.32917667e-01 9.72228969e-01 2.28077135e-02 -4.10370468e+01] [-8.14054935e-02 -3.87878428e-03 9.96673518e-01 -1.67486637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.967719421 meters 0.06553413160065041 Centerline is valid? [True, True] Translation: X:156.23, Y:-41.03, Z:-16.75 [[ 9.68726728e-01 -2.35788799e-01 7.72798016e-02 1.56228788e+02] [ 2.34739259e-01 9.71797355e-01 2.25251266e-02 -4.10307118e+01] [-8.04114794e-02 -3.68008889e-03 9.96754960e-01 -1.67523940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.997719421 meters 0.0646396121266444 Centerline is valid? [True, True] Translation: X:156.26, Y:-41.03, Z:-16.76 [[ 9.68268003e-01 -2.37915311e-01 7.65073828e-02 1.56257443e+02] [ 2.36891501e-01 9.71279632e-01 2.23224901e-02 -4.10256246e+01] [-7.96209248e-02 -3.49020421e-03 9.96819104e-01 -1.67570142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.027719421 meters 0.06550612297826972 Centerline is valid? [True, True] Translation: X:156.28, Y:-41.02, Z:-16.76 [[ 9.68350076e-01 -2.37663613e-01 7.62504923e-02 1.56283593e+02] [ 2.36645099e-01 9.71341184e-01 2.22576354e-02 -4.10169214e+01] [-7.93550734e-02 -3.50887771e-03 9.96840238e-01 -1.67610288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.057719421 meters 0.0643510629003562 Centerline is valid? [True, True] Translation: X:156.31, Y:-41.01, Z:-16.76 [[ 9.68617996e-01 -2.36717627e-01 7.57887999e-02 1.56312313e+02] [ 2.35708270e-01 9.71571940e-01 2.21263754e-02 -4.10124919e+01] [-7.88719744e-02 -3.56795851e-03 9.96878368e-01 -1.67620810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.087719421 meters 0.06672808559556073 Centerline is valid? [True, True] Translation: X:156.34, Y:-41.00, Z:-16.77 [[ 9.68697952e-01 -2.36241525e-01 7.62510288e-02 1.56337637e+02] [ 2.35216410e-01 9.71687503e-01 2.22853755e-02 -4.10011144e+01] [-7.93569028e-02 -3.65230438e-03 9.96839577e-01 -1.67655903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.117719421 meters 0.06724507052899147 Centerline is valid? [True, True] Translation: X:156.36, Y:-40.99, Z:-16.77 [[ 9.68789788e-01 -2.35889672e-01 7.61735455e-02 1.56364617e+02] [ 2.34864975e-01 9.71772858e-01 2.22700905e-02 -4.09931629e+01] [-7.92766684e-02 -3.68453843e-03 9.96845843e-01 -1.67686667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.147719421 meters 0.06634039874088804 Centerline is valid? [True, True] Translation: X:156.39, Y:-40.99, Z:-16.77 [[ 9.69018851e-01 -2.35786918e-01 7.35322715e-02 1.56392222e+02] [ 2.34831683e-01 9.71798234e-01 2.15005258e-02 -4.09866552e+01] [-7.65280744e-02 -3.56670777e-03 9.97061047e-01 -1.67738091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.177719421 meters 0.06922349040054109 Centerline is valid? [True, True] Translation: X:156.42, Y:-40.97, Z:-16.78 [[ 9.69206191e-01 -2.35248612e-01 7.27835857e-02 1.56417334e+02] [ 2.34309614e-01 9.71928587e-01 2.13031977e-02 -4.09748399e+01] [-7.57519954e-02 -3.59329723e-03 9.97120215e-01 -1.67796066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.207719421 meters 0.06978949403417747 Centerline is valid? [True, True] Translation: X:156.44, Y:-40.97, Z:-16.78 [[ 9.69320415e-01 -2.34630784e-01 7.32552243e-02 1.56444715e+02] [ 2.33676924e-01 9.72077610e-01 2.14526425e-02 -4.09675398e+01] [-7.62432136e-02 -3.67642881e-03 9.97082472e-01 -1.67818476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.237719421 meters 0.06822557372676707 Centerline is valid? [True, True] Translation: X:156.47, Y:-40.96, Z:-16.78 [[ 9.69215912e-01 -2.34204368e-01 7.59528173e-02 1.56474188e+02] [ 2.33177216e-01 9.72179758e-01 2.22464199e-02 -4.09636000e+01] [-7.90500003e-02 -3.85111767e-03 9.96863213e-01 -1.67793620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26771942099998 meters 0.06879175363193984 Centerline is valid? [True, True] Translation: X:156.50, Y:-40.95, Z:-16.78 [[ 9.69177248e-01 -2.33659229e-01 7.80949884e-02 1.56500373e+02] [ 2.32569508e-01 9.72310203e-01 2.28974565e-02 -4.09547772e+01] [-8.12827561e-02 -4.02918080e-03 9.96682938e-01 -1.67794325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29771942099998 meters 0.06947141271936301 Centerline is valid? [True, True] Translation: X:156.53, Y:-40.95, Z:-16.78 [[ 9.69383692e-01 -2.32667013e-01 7.84940678e-02 1.56528381e+02] [ 2.31562499e-01 9.72547654e-01 2.30189148e-02 -4.09464749e+01] [-8.16949636e-02 -4.13787816e-03 9.96648790e-01 -1.67806104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32771942099998 meters 0.07035651480882399 Centerline is valid? [True, True] Translation: X:156.55, Y:-40.94, Z:-16.78 [[ 9.69350172e-01 -2.32934234e-01 7.81145746e-02 1.56553513e+02] [ 2.31839570e-01 9.72483781e-01 2.29283388e-02 -4.09381948e+01] [-8.13059519e-02 -4.11553975e-03 9.96680693e-01 -1.67844218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35771942099998 meters 0.06938891827036828 Centerline is valid? [True, True] Translation: X:156.58, Y:-40.93, Z:-16.79 [[ 9.68766873e-01 -2.35141040e-01 7.87365047e-02 1.56582169e+02] [ 2.34034602e-01 9.71953113e-01 2.31290008e-02 -4.09338203e+01] [-8.19667681e-02 -3.97954326e-03 9.96627118e-01 -1.67874009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38771942099999 meters 0.06661592388029627 Centerline is valid? [True, True] Translation: X:156.61, Y:-40.93, Z:-16.79 [[ 9.67490074e-01 -2.39993836e-01 7.97866890e-02 1.56612146e+02] [ 2.38873668e-01 9.70767659e-01 2.34419084e-02 -4.09330023e+01] [-8.30802508e-02 -3.62087469e-03 9.96536282e-01 -1.67890613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.417719421 meters 0.06487760032173111 Centerline is valid? [True, True] Translation: X:156.64, Y:-40.93, Z:-16.79 [[ 9.66859246e-01 -2.42492818e-01 7.98776021e-02 1.56640996e+02] [ 2.41378287e-01 9.70147196e-01 2.34721409e-02 -4.09289359e+01] [-8.31848572e-02 -3.41353766e-03 9.96528287e-01 -1.67920399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.447719421 meters 0.06427687717377889 Centerline is valid? [True, True] Translation: X:156.67, Y:-40.92, Z:-16.80 [[ 9.66305209e-01 -2.45408234e-01 7.76469048e-02 1.56668044e+02] [ 2.44364309e-01 9.69414942e-01 2.28200318e-02 -4.09247096e+01] [-8.08722934e-02 -3.07698338e-03 9.96719722e-01 -1.67972354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.477719421 meters 0.06325262224656862 Centerline is valid? [True, True] Translation: X:156.70, Y:-40.92, Z:-16.80 [[ 9.65897507e-01 -2.47107466e-01 7.73298494e-02 1.56696789e+02] [ 2.46076892e-01 9.68983651e-01 2.27342681e-02 -4.09188743e+01] [-8.05491672e-02 -2.92988387e-03 9.96746331e-01 -1.68008924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.507719421 meters 0.06447612934089184 Centerline is valid? [True, True] Translation: X:156.72, Y:-40.91, Z:-16.81 [[ 9.66388038e-01 -2.45839729e-01 7.52129446e-02 1.56723286e+02] [ 2.44859516e-01 9.69305937e-01 2.21318469e-02 -4.09095368e+01] [-7.83452410e-02 -2.97134689e-03 9.96921860e-01 -1.68074229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.537719421 meters 0.06573728226435643 Centerline is valid? [True, True] Translation: X:156.75, Y:-40.90, Z:-16.81 [[ 9.66851373e-01 -2.44158328e-01 7.47337560e-02 1.56750827e+02] [ 2.43185268e-01 9.69730454e-01 2.19948312e-02 -4.08995692e+01] [-7.78418204e-02 -3.09158424e-03 9.96960929e-01 -1.68106486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.567719421 meters 0.06348364658020118 Centerline is valid? [True, True] Translation: X:156.78, Y:-40.90, Z:-16.81 [[ 9.67918364e-01 -2.39976101e-01 7.44681897e-02 1.56781512e+02] [ 2.38997350e-01 9.70772775e-01 2.19199788e-02 -4.08972398e+01] [-7.75519622e-02 -3.41904998e-03 9.96982449e-01 -1.68087960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.597719421 meters 0.07200891424026563 Centerline is valid? [True, True] Translation: X:156.80, Y:-40.87, Z:-16.82 [[ 9.68736526e-01 -2.36364985e-01 7.53733161e-02 1.56802872e+02] [ 2.35351161e-01 9.71657083e-01 2.21888291e-02 -4.08729710e+01] [-7.84816787e-02 -3.75593174e-03 9.96908481e-01 -1.68175595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.627719421 meters 0.06702180123279379 Centerline is valid? [True, True] Translation: X:156.83, Y:-40.87, Z:-16.82 [[ 9.69151203e-01 -2.34374684e-01 7.62525671e-02 1.56834115e+02] [ 2.33330295e-01 9.72138233e-01 2.24550561e-02 -4.08744331e+01] [-7.93909325e-02 -3.97031063e-03 9.96835652e-01 -1.68151199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.657719421 meters 0.06833724248017264 Centerline is valid? [True, True] Translation: X:156.86, Y:-40.87, Z:-16.82 [[ 9.69462242e-01 -2.32394693e-01 7.83305055e-02 1.56860787e+02] [ 2.31285547e-01 9.72612271e-01 2.30730636e-02 -4.08653514e+01] [-8.15472684e-02 -4.25175013e-03 9.96660406e-01 -1.68150848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.687719421 meters 0.06606663006376155 Centerline is valid? [True, True] Translation: X:156.89, Y:-40.86, Z:-16.82 [[ 9.69527717e-01 -2.32300222e-01 7.77985368e-02 1.56889975e+02] [ 2.31205488e-01 9.72634914e-01 2.29204565e-02 -4.08620911e+01] [-8.09940003e-02 -4.23456918e-03 9.96705594e-01 -1.68166472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.717719421 meters 0.06677538871042568 Centerline is valid? [True, True] Translation: X:156.92, Y:-40.85, Z:-16.82 [[ 9.69529228e-01 -2.32246033e-01 7.79413575e-02 1.56916294e+02] [ 2.31145074e-01 9.72647694e-01 2.29873319e-02 -4.08543758e+01] [-8.11481983e-02 -4.27112936e-03 9.96692895e-01 -1.68205520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.747719421 meters 0.06679938796040974 Centerline is valid? [True, True] Translation: X:156.94, Y:-40.85, Z:-16.82 [[ 9.69374802e-01 -2.33012280e-01 7.75742902e-02 1.56943689e+02] [ 2.31923766e-01 9.72464760e-01 2.28835572e-02 -4.08466868e+01] [-8.07704134e-02 -4.19142220e-03 9.96723920e-01 -1.68245520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.777719421 meters 0.0657185940609042 Centerline is valid? [True, True] Translation: X:156.97, Y:-40.84, Z:-16.83 [[ 9.68812853e-01 -2.35731035e-01 7.63710377e-02 1.56973515e+02] [ 2.34682833e-01 9.71810417e-01 2.25495188e-02 -4.08436097e+01] [-7.95337914e-02 -3.92329212e-03 9.96824450e-01 -1.68271793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.807719421 meters 0.0649259684775812 Centerline is valid? [True, True] Translation: X:157.00, Y:-40.84, Z:-16.83 [[ 9.68316270e-01 -2.37698469e-01 7.65704871e-02 1.57001862e+02] [ 2.36649085e-01 9.71331584e-01 2.26310582e-02 -4.08386576e+01] [-7.97547004e-02 -3.79368618e-03 9.96807301e-01 -1.68299748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.837719421 meters 0.06291710816850486 Centerline is valid? [True, True] Translation: X:157.03, Y:-40.84, Z:-16.83 [[ 9.67337525e-01 -2.41703985e-01 7.64022023e-02 1.57032282e+02] [ 2.40671266e-01 9.70343860e-01 2.25861485e-02 -4.08366523e+01] [-7.95955700e-02 -3.46061421e-03 9.96821232e-01 -1.68316823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.867719421 meters 0.06233857806356968 Centerline is valid? [True, True] Translation: X:157.06, Y:-40.83, Z:-16.84 [[ 9.66921215e-01 -2.43472215e-01 7.60568545e-02 1.57060580e+02] [ 2.42453692e-01 9.69902234e-01 2.24914248e-02 -4.08306350e+01] [-7.92437501e-02 -3.30717060e-03 9.96849783e-01 -1.68354180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.897719421 meters 0.062134502386507036 Centerline is valid? [True, True] Translation: X:157.09, Y:-40.83, Z:-16.84 [[ 9.66360393e-01 -2.46013100e-01 7.50009664e-02 1.57088565e+02] [ 2.45028775e-01 9.69261626e-01 2.21991034e-02 -4.08258483e+01] [-7.81568289e-02 -3.07493936e-03 9.96936334e-01 -1.68395862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.927719421 meters 0.061722482252178995 Centerline is valid? [True, True] Translation: X:157.12, Y:-40.82, Z:-16.84 [[ 9.66005598e-01 -2.47007296e-01 7.62927275e-02 1.57117077e+02] [ 2.45990097e-01 9.69008766e-01 2.26027375e-02 -4.08189282e+01] [-7.95113629e-02 -3.06711556e-03 9.96829241e-01 -1.68417942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.957719421 meters 0.06014421688917948 Centerline is valid? [True, True] Translation: X:157.15, Y:-40.81, Z:-16.84 [[ 9.65850442e-01 -2.47309854e-01 7.72706859e-02 1.57145927e+02] [ 2.46265819e-01 9.68931488e-01 2.29110815e-02 -4.08147671e+01] [-8.05361369e-02 -3.09954946e-03 9.96746870e-01 -1.68415026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.987719421 meters 0.06091253169849628 Centerline is valid? [True, True] Translation: X:157.17, Y:-40.81, Z:-16.85 [[ 9.65883201e-01 -2.47026954e-01 7.77645597e-02 1.57171564e+02] [ 2.45966571e-01 9.69003432e-01 2.30823275e-02 -4.08054435e+01] [-8.10560823e-02 -3.16735022e-03 9.96704510e-01 -1.68457899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01771942099998 meters 0.062364063136121854 Centerline is valid? [True, True] Translation: X:157.20, Y:-40.80, Z:-16.85 [[ 9.66691139e-01 -2.44399205e-01 7.60083623e-02 1.57199644e+02] [ 2.43377501e-01 9.69669023e-01 2.25694167e-02 -4.07958555e+01] [-7.92189019e-02 -3.31892983e-03 9.96851719e-01 -1.68500637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04771942099998 meters 0.06267563263378356 Centerline is valid? [True, True] Translation: X:157.23, Y:-40.79, Z:-16.85 [[ 9.66959449e-01 -2.43213392e-01 7.63981043e-02 1.57226965e+02] [ 2.42177324e-01 9.69966723e-01 2.26870074e-02 -4.07884920e+01] [-7.96214029e-02 -3.43552769e-03 9.96819256e-01 -1.68522711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07771942099998 meters 0.06267563263378356 Centerline is valid? [True, True] Translation: X:157.25, Y:-40.78, Z:-16.86 [[ 9.66890198e-01 -2.43488842e-01 7.63971778e-02 1.57253303e+02] [ 2.42453386e-01 9.69897682e-01 2.26901291e-02 -4.07804513e+01] [-7.96222389e-02 -3.41610900e-03 9.96819256e-01 -1.68550141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10771942099998 meters 0.0638806033309532 Centerline is valid? [True, True] Translation: X:157.28, Y:-40.77, Z:-16.86 [[ 9.67483086e-01 -2.41751299e-01 7.43827165e-02 1.57280062e+02] [ 2.40762593e-01 9.70331964e-01 2.21190609e-02 -4.07722168e+01] [-7.75232391e-02 -3.49124156e-03 9.96984432e-01 -1.68578542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13771942099999 meters 0.06273724269298651 Centerline is valid? [True, True] Translation: X:157.31, Y:-40.77, Z:-16.86 [[ 9.67480141e-01 -2.41857093e-01 7.40764772e-02 1.57308297e+02] [ 2.40876723e-01 9.70305677e-01 2.20294541e-02 -4.07670704e+01] [-7.72048061e-02 -3.46976023e-03 9.97009217e-01 -1.68594575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.167719421 meters 0.06360606003295745 Centerline is valid? [True, True] Translation: X:157.33, Y:-40.76, Z:-16.86 [[ 9.67613493e-01 -2.41375684e-01 7.39047146e-02 1.57334695e+02] [ 2.40396592e-01 9.70425352e-01 2.20026153e-02 -4.07593335e+01] [-7.70299050e-02 -3.52358596e-03 9.97022556e-01 -1.68639157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.197719421 meters 0.06412613037569789 Centerline is valid? [True, True] Translation: X:157.36, Y:-40.75, Z:-16.87 [[ 9.67492954e-01 -2.41375400e-01 7.54672193e-02 1.57360660e+02] [ 2.40353785e-01 9.70425120e-01 2.24754255e-02 -4.07497316e+01] [-7.86603001e-02 -3.60598403e-03 9.96894956e-01 -1.68691155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.227719421 meters 0.06414932600726338 Centerline is valid? [True, True] Translation: X:157.39, Y:-40.74, Z:-16.87 [[ 9.67268782e-01 -2.42017313e-01 7.62805551e-02 1.57388473e+02] [ 2.40975164e-01 9.70265266e-01 2.27218931e-02 -4.07413575e+01] [-7.95114646e-02 -3.59645859e-03 9.96827464e-01 -1.68718768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.257719421 meters 0.06298543155383356 Centerline is valid? [True, True] Translation: X:157.42, Y:-40.74, Z:-16.87 [[ 9.66584329e-01 -2.43881454e-01 7.89719663e-02 1.57418450e+02] [ 2.42768357e-01 9.69798403e-01 2.35495647e-02 -4.07371035e+01] [-8.23301889e-02 -3.59074576e-03 9.96598639e-01 -1.68681615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.287719421 meters 0.06254914842804338 Centerline is valid? [True, True] Translation: X:157.45, Y:-40.73, Z:-16.87 [[ 9.66097665e-01 -2.45395718e-01 8.02262014e-02 1.57447266e+02] [ 2.44252103e-01 9.69416614e-01 2.39235912e-02 -4.07309962e+01] [-8.36433593e-02 -3.51710719e-03 9.96489548e-01 -1.68690349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.317719421 meters 0.062017702906623645 Centerline is valid? [True, True] Translation: X:157.48, Y:-40.72, Z:-16.87 [[ 9.65744358e-01 -2.46717513e-01 8.04257651e-02 1.57475280e+02] [ 2.45571097e-01 9.69081370e-01 2.40028140e-02 -4.07237449e+01] [-8.38610252e-02 -3.43033891e-03 9.96471556e-01 -1.68710108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.347719421 meters 0.061077920699652094 Centerline is valid? [True, True] Translation: X:157.50, Y:-40.72, Z:-16.87 [[ 9.65282259e-01 -2.48125561e-01 8.16325033e-02 1.57502937e+02] [ 2.46947540e-01 9.68721985e-01 2.43849833e-02 -4.07154101e+01] [-8.51297383e-02 -3.37944589e-03 9.96364144e-01 -1.68747364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.377719421 meters 0.06122327534045392 Centerline is valid? [True, True] Translation: X:157.53, Y:-40.71, Z:-16.88 [[ 9.65173014e-01 -2.48699856e-01 8.11753337e-02 1.57528944e+02] [ 2.47534993e-01 9.68574865e-01 2.42725727e-02 -4.07060204e+01] [-8.46609732e-02 -3.33349650e-03 9.96404239e-01 -1.68799231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.407719421 meters 0.0606627841470341 Centerline is valid? [True, True] Translation: X:157.56, Y:-40.70, Z:-16.89 [[ 9.65381384e-01 -2.48617432e-01 7.89186652e-02 1.57556166e+02] [ 2.47515696e-01 9.68596295e-01 2.36050381e-02 -4.06992510e+01] [-8.23089507e-02 -3.25425600e-03 9.96601548e-01 -1.68851768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.437719421 meters 0.06106109767703201 Centerline is valid? [True, True] Translation: X:157.58, Y:-40.69, Z:-16.89 [[ 9.65533199e-01 -2.48506329e-01 7.73966765e-02 1.57583416e+02] [ 2.47445812e-01 9.68624962e-01 2.31571566e-02 -4.06919016e+01] [-8.07230528e-02 -3.20752003e-03 9.96731408e-01 -1.68883530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.467719421 meters 0.06148432208221387 Centerline is valid? [True, True] Translation: X:157.61, Y:-40.68, Z:-16.89 [[ 9.65604392e-01 -2.48308628e-01 7.71426209e-02 1.57610353e+02] [ 2.47254098e-01 9.68675628e-01 2.30854626e-02 -4.06827681e+01] [-8.04584963e-02 -3.21759496e-03 9.96752766e-01 -1.68923093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.497719421 meters 0.06306697774066372 Centerline is valid? [True, True] Translation: X:157.64, Y:-40.67, Z:-16.90 [[ 9.66233998e-01 -2.46480136e-01 7.50959629e-02 1.57635970e+02] [ 2.45473580e-01 9.69142216e-01 2.24963755e-02 -4.06709661e+01] [-7.83235776e-02 -3.30268794e-03 9.96922519e-01 -1.68988141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.527719421 meters 0.06374714349239868 Centerline is valid? [True, True] Translation: X:157.66, Y:-40.66, Z:-16.90 [[ 9.66438440e-01 -2.45698114e-01 7.50278571e-02 1.57662854e+02] [ 2.44690884e-01 9.69340556e-01 2.24779246e-02 -4.06612873e+01] [-7.82503285e-02 -3.36489773e-03 9.96928063e-01 -1.69032736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.557719421 meters 0.0637104911314112 Centerline is valid? [True, True] Translation: X:157.69, Y:-40.65, Z:-16.90 [[ 9.67038217e-01 -2.43218706e-01 7.53773698e-02 1.57691653e+02] [ 2.42192615e-01 9.69964771e-01 2.26070820e-02 -4.06539969e+01] [-7.86118585e-02 -3.60606999e-03 9.96898777e-01 -1.69044438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.587719421 meters 0.06666173273803694 Centerline is valid? [True, True] Translation: X:157.72, Y:-40.64, Z:-16.91 [[ 9.66743924e-01 -2.43710323e-01 7.75336290e-02 1.57716723e+02] [ 2.42625966e-01 9.69841123e-01 2.32558970e-02 -4.06411741e+01] [-8.08630040e-02 -3.67082549e-03 9.96718466e-01 -1.69059398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.617719421 meters 0.06247005808363215 Centerline is valid? [True, True] Translation: X:157.75, Y:-40.64, Z:-16.90 [[ 9.66342393e-01 -2.44775264e-01 7.91672235e-02 1.57747485e+02] [ 2.43647776e-01 9.69572924e-01 2.37509085e-02 -4.06416170e+01] [-8.25720313e-02 -3.66259180e-03 9.96578369e-01 -1.69036062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.647719421 meters 0.06303078504773871 Centerline is valid? [True, True] Translation: X:157.77, Y:-40.63, Z:-16.91 [[ 9.66087083e-01 -2.45480526e-01 8.00940720e-02 1.57773678e+02] [ 2.44326751e-01 9.69394579e-01 2.40538774e-02 -4.06326721e+01] [-8.35475176e-02 -3.66901583e-03 9.96497040e-01 -1.69060784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.677719421 meters 0.061906784742642905 Centerline is valid? [True, True] Translation: X:157.80, Y:-40.63, Z:-16.91 [[ 9.65812861e-01 -2.46262956e-01 8.09942870e-02 1.57802025e+02] [ 2.45085320e-01 9.69196189e-01 2.43296784e-02 -4.06263528e+01] [-8.44908528e-02 -3.64740558e-03 9.96417579e-01 -1.69085561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.707719421 meters 0.062355241581411924 Centerline is valid? [True, True] Translation: X:157.83, Y:-40.62, Z:-16.91 [[ 9.65751300e-01 -2.46341313e-01 8.14885471e-02 1.57828324e+02] [ 2.45147622e-01 9.69176136e-01 2.45002186e-02 -4.06172512e+01] [-8.50121712e-02 -3.68439445e-03 9.96373101e-01 -1.69109851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.737719421 meters 0.06310626042127215 Centerline is valid? [True, True] Translation: X:157.86, Y:-40.61, Z:-16.91 [[ 9.65873440e-01 -2.45843997e-01 8.15427972e-02 1.57855513e+02] [ 2.44644722e-01 9.69302131e-01 2.45425848e-02 -4.06071473e+01] [-8.50732542e-02 -3.75601581e-03 9.96367620e-01 -1.69146594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76771942099998 meters 0.06334702962509091 Centerline is valid? [True, True] Translation: X:157.88, Y:-40.60, Z:-16.92 [[ 9.65886741e-01 -2.45672261e-01 8.19020362e-02 1.57883206e+02] [ 2.44459833e-01 9.69345463e-01 2.46731285e-02 -4.05982802e+01] [-8.54528704e-02 -3.80968956e-03 9.96334930e-01 -1.69172778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79771942099998 meters 0.06253753110111417 Centerline is valid? [True, True] Translation: X:157.91, Y:-40.59, Z:-16.92 [[ 9.65309114e-01 -2.48115649e-01 8.13445651e-02 1.57911343e+02] [ 2.46926251e-01 9.68723757e-01 2.45297651e-02 -4.05921914e+01] [-8.48866313e-02 -3.59269734e-03 9.96384139e-01 -1.69205873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82771942099998 meters 0.061323535042245365 Centerline is valid? [True, True] Translation: X:157.94, Y:-40.59, Z:-16.93 [[ 9.64513035e-01 -2.51495636e-01 8.04024238e-02 1.57940558e+02] [ 2.50344852e-01 9.67852932e-01 2.42519550e-02 -4.05855099e+01] [-8.39169825e-02 -3.26299385e-03 9.96467407e-01 -1.69253788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85771942099998 meters 0.061283916973246054 Centerline is valid? [True, True] Translation: X:157.97, Y:-40.58, Z:-16.93 [[ 9.64302017e-01 -2.52518682e-01 7.97241145e-02 1.57967026e+02] [ 2.51390378e-01 9.67586887e-01 2.40519051e-02 -4.05773879e+01] [-8.32135632e-02 -3.15142527e-03 9.96526754e-01 -1.69299305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88771942099999 meters 0.06111508484014591 Centerline is valid? [True, True] Translation: X:157.99, Y:-40.57, Z:-16.94 [[ 9.63886540e-01 -2.54556186e-01 7.82552638e-02 1.57993246e+02] [ 2.53475254e-01 9.67053555e-01 2.36160278e-02 -4.05690028e+01] [-8.16886370e-02 -2.92739849e-03 9.96653599e-01 -1.69363958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.917719421 meters 0.06072241418608637 Centerline is valid? [True, True] Translation: X:158.02, Y:-40.56, Z:-16.94 [[ 9.63768509e-01 -2.55269871e-01 7.73792797e-02 1.58020202e+02] [ 2.54215059e-01 9.66865678e-01 2.33552022e-02 -4.05609998e+01] [-8.07772492e-02 -2.83803029e-03 9.96728138e-01 -1.69399933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.947719421 meters 0.06143831136555677 Centerline is valid? [True, True] Translation: X:158.05, Y:-40.55, Z:-16.94 [[ 9.63868203e-01 -2.55314222e-01 7.59785224e-02 1.58046002e+02] [ 2.54295377e-01 9.66854055e-01 2.29586283e-02 -4.05511202e+01] [-7.93218068e-02 -2.80810486e-03 9.96845106e-01 -1.69442081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.977719421 meters 0.06190097344959137 Centerline is valid? [True, True] Translation: X:158.07, Y:-40.54, Z:-16.95 [[ 9.64181235e-01 -2.54268120e-01 7.55133757e-02 1.58072464e+02] [ 2.53257983e-01 9.67129470e-01 2.28250550e-02 -4.05413119e+01] [-7.88348948e-02 -2.88312450e-03 9.96883517e-01 -1.69468648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.007719421 meters 0.06298280993788373 Centerline is valid? [True, True] Translation: X:158.10, Y:-40.53, Z:-16.95 [[ 9.64721291e-01 -2.52867618e-01 7.32857269e-02 1.58099626e+02] [ 2.51911686e-01 9.67496493e-01 2.21593739e-02 -4.05300013e+01] [-7.65070719e-02 -2.91608874e-03 9.97064774e-01 -1.69534755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.037719421 meters 0.06377118288119078 Centerline is valid? [True, True] Translation: X:158.13, Y:-40.52, Z:-16.96 [[ 9.64928698e-01 -2.52243949e-01 7.27021115e-02 1.58125006e+02] [ 2.51301336e-01 9.67659200e-01 2.19843297e-02 -4.05196044e+01] [-7.58962812e-02 -2.94317294e-03 9.97111374e-01 -1.69580229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.067719421 meters 0.06260212559793968 Centerline is valid? [True, True] Translation: X:158.15, Y:-40.51, Z:-16.96 [[ 9.64880856e-01 -2.51597018e-01 7.55239908e-02 1.58152927e+02] [ 2.50577391e-01 9.67827071e-01 2.28414602e-02 -4.05120506e+01] [-7.88410061e-02 -3.11468310e-03 9.96882337e-01 -1.69568140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.097719421 meters 0.06434772581513408 Centerline is valid? [True, True] Translation: X:158.18, Y:-40.50, Z:-16.96 [[ 9.64786018e-01 -2.51405834e-01 7.73501479e-02 1.58177761e+02] [ 2.50333644e-01 9.67876374e-01 2.34177692e-02 -4.04991104e+01] [-8.07527445e-02 -3.22979197e-03 9.96728931e-01 -1.69587447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.127719421 meters 0.06097450335045475 Centerline is valid? [True, True] Translation: X:158.21, Y:-40.50, Z:-16.96 [[ 9.64500158e-01 -2.52030765e-01 7.88665919e-02 1.58208377e+02] [ 2.50917711e-01 9.67713782e-01 2.38817618e-02 -4.04971382e+01] [-8.23392266e-02 -3.24493828e-03 9.96599078e-01 -1.69565547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.157719421 meters 0.06067495872417513 Centerline is valid? [True, True] Translation: X:158.24, Y:-40.49, Z:-16.96 [[ 9.64172178e-01 -2.53305168e-01 7.87940507e-02 1.58236648e+02] [ 2.52196731e-01 9.67381285e-01 2.38800652e-02 -4.04895000e+01] [-8.22728339e-02 -3.15289252e-03 9.96604857e-01 -1.69591037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.187719421 meters 0.06084876431084176 Centerline is valid? [True, True] Translation: X:158.26, Y:-40.48, Z:-16.96 [[ 9.62921066e-01 -2.57509468e-01 8.04480883e-02 1.58263757e+02] [ 2.56366484e-01 9.66271494e-01 2.44054331e-02 -4.04797581e+01] [-8.40193246e-02 -2.87631213e-03 9.96459974e-01 -1.69624755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.217719421 meters 0.06021922951227175 Centerline is valid? [True, True] Translation: X:158.29, Y:-40.47, Z:-16.97 [[ 9.62382297e-01 -2.59507576e-01 8.04744170e-02 1.58290397e+02] [ 2.58370488e-01 9.65737280e-01 2.44171581e-02 -4.04727354e+01] [-8.40535820e-02 -2.70642626e-03 9.96457561e-01 -1.69657005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.247719421 meters 0.057121797400896415 Centerline is valid? [True, True] Translation: X:158.32, Y:-40.47, Z:-16.97 [[ 9.60122904e-01 -2.67267885e-01 8.20480794e-02 1.58320496e+02] [ 2.66113291e-01 9.63620034e-01 2.49027464e-02 -4.04737359e+01] [-8.57188774e-02 -2.07561277e-03 9.96317201e-01 -1.69669976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.277719421 meters 0.05420869028279193 Centerline is valid? [True, True] Translation: X:158.35, Y:-40.48, Z:-16.97 [[ 9.57437051e-01 -2.76754954e-01 8.19816303e-02 1.58352803e+02] [ 2.75636661e-01 9.60939741e-01 2.48846225e-02 -4.04781357e+01] [-8.56663492e-02 -1.22831671e-03 9.96323124e-01 -1.69696776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.307719421 meters 0.05415973875379484 Centerline is valid? [True, True] Translation: X:158.38, Y:-40.47, Z:-16.98 [[ 9.56493893e-01 -2.80303656e-01 8.09277081e-02 1.58379663e+02] [ 2.79224914e-01 9.59910942e-01 2.45851696e-02 -4.04722820e+01] [-8.45747055e-02 -9.18532260e-04 9.96416718e-01 -1.69758749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.337719421 meters 0.05324780832753901 Centerline is valid? [True, True] Translation: X:158.41, Y:-40.47, Z:-16.98 [[ 9.54642764e-01 -2.86784105e-01 8.00754089e-02 1.58409375e+02] [ 2.85750310e-01 9.57995176e-01 2.43311166e-02 -4.04696207e+01] [-8.36896329e-02 -3.45951482e-04 9.96491809e-01 -1.69790705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.367719421 meters 0.05330903513766193 Centerline is valid? [True, True] Translation: X:158.44, Y:-40.46, Z:-16.98 [[ 9.54006859e-01 -2.88884788e-01 8.01030105e-02 1.58435724e+02] [ 2.87855817e-01 9.57363852e-01 2.43615134e-02 -4.04626191e+01] [-8.37253973e-02 -1.82933428e-04 9.96488848e-01 -1.69834396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.397719421 meters 0.05317360310040245 Centerline is valid? [True, True] Translation: X:158.46, Y:-40.46, Z:-16.98 [[ 9.53706123e-01 -2.89773465e-01 8.04734110e-02 1.58463508e+02] [ 2.88736807e-01 9.57095254e-01 2.44894247e-02 -4.04551592e+01] [-8.41171052e-02 -1.20078547e-04 9.96455869e-01 -1.69829433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.427719421 meters 0.05306811467044799 Centerline is valid? [True, True] Translation: X:158.49, Y:-40.45, Z:-16.98 [[ 9.52762711e-01 -2.92806288e-01 8.06702812e-02 1.58490235e+02] [ 2.91773352e-01 9.56171774e-01 2.45733465e-02 -4.04480216e+01] [-8.43298762e-02 1.24870124e-04 9.96437884e-01 -1.69845013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.457719421 meters 0.053270226319123315 Centerline is valid? [True, True] Translation: X:158.52, Y:-40.44, Z:-16.99 [[ 9.52130969e-01 -2.95521822e-01 7.81886862e-02 1.58515718e+02] [ 2.94558580e-01 9.55335933e-01 2.38432173e-02 -4.04387270e+01] [-8.17426525e-02 3.29282780e-04 9.96653415e-01 -1.69901663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.487719421 meters 0.05340619998133898 Centerline is valid? [True, True] Translation: X:158.54, Y:-40.43, Z:-16.99 [[ 9.51380969e-01 -2.98008460e-01 7.78794543e-02 1.58543023e+02] [ 2.97060419e-01 9.54563080e-01 2.37577971e-02 -4.04299516e+01] [-8.14208763e-02 5.32187322e-04 9.96679667e-01 -1.69942927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51771942099998 meters 0.05391207148233972 Centerline is valid? [True, True] Translation: X:158.57, Y:-40.42, Z:-17.00 [[ 9.50359682e-01 -3.01778837e-01 7.58024267e-02 1.58570032e+02] [ 3.00890908e-01 9.53377615e-01 2.31470244e-02 -4.04226539e+01] [-7.92536189e-02 8.10262181e-04 9.96854156e-01 -1.69978078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54771942099998 meters 0.05401661694256962 Centerline is valid? [True, True] Translation: X:158.60, Y:-40.41, Z:-17.00 [[ 9.49449894e-01 -3.04575334e-01 7.60181845e-02 1.58597383e+02] [ 3.03690705e-01 9.52487682e-01 2.32200601e-02 -4.04148586e+01] [-7.94786419e-02 1.03973245e-03 9.96836027e-01 -1.69986532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57771942099998 meters 0.0552653543248544 Centerline is valid? [True, True] Translation: X:158.62, Y:-40.41, Z:-17.00 [[ 9.47084991e-01 -3.11411169e-01 7.78017008e-02 1.58624657e+02] [ 3.10506836e-01 9.50273846e-01 2.37722907e-02 -4.04106235e+01] [-8.13358783e-02 1.64358025e-03 9.96685393e-01 -1.70014245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60771942099998 meters 0.056271421559247296 Centerline is valid? [True, True] Translation: X:158.65, Y:-40.40, Z:-17.00 [[ 9.45889591e-01 -3.14844660e-01 7.85221046e-02 1.58651478e+02] [ 3.13934488e-01 9.49141215e-01 2.40018833e-02 -4.04039892e+01] [-8.20854306e-02 1.94766514e-03 9.96623394e-01 -1.70042746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63771942099999 meters 0.05785724349122061 Centerline is valid? [True, True] Translation: X:158.68, Y:-40.39, Z:-17.01 [[ 9.43994675e-01 -3.20226970e-01 7.95533830e-02 1.58679712e+02] [ 3.19311238e-01 9.47337705e-01 2.43229625e-02 -4.03944260e+01] [-8.31527878e-02 2.44154219e-03 9.96533819e-01 -1.70072291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.667719421 meters 0.05868347582723944 Centerline is valid? [True, True] Translation: X:158.71, Y:-40.38, Z:-17.01 [[ 9.43255055e-01 -3.22191859e-01 8.03884754e-02 1.58705133e+02] [ 3.21262437e-01 9.46670751e-01 2.45954495e-02 -4.03837868e+01] [-8.40258719e-02 2.62601547e-03 9.96460113e-01 -1.70101028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.697719421 meters 0.05932921010233724 Centerline is valid? [True, True] Translation: X:158.73, Y:-40.37, Z:-17.01 [[ 9.42839740e-01 -3.23169646e-01 8.13302171e-02 1.58730539e+02] [ 3.22221469e-01 9.46337081e-01 2.48888275e-02 -4.03673674e+01] [-8.50091138e-02 2.74016640e-03 9.96376406e-01 -1.70122748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.727719421 meters 0.05636857732571392 Centerline is valid? [True, True] Translation: X:158.76, Y:-40.35, Z:-17.01 [[ 9.43197823e-01 -3.22288285e-01 8.06729639e-02 1.58755392e+02] [ 3.21350510e-01 9.46637943e-01 2.47073765e-02 -4.03476430e+01] [-8.43309866e-02 2.62035435e-03 9.96434352e-01 -1.70109829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.757719421 meters 0.05649963023997499 Centerline is valid? [True, True] Translation: X:158.78, Y:-40.33, Z:-17.01 [[ 9.43507229e-01 -3.21444790e-01 8.04198707e-02 1.58778805e+02] [ 3.20507707e-01 9.46924988e-01 2.46551673e-02 -4.03300996e+01] [-8.40768602e-02 2.51285981e-03 9.96456104e-01 -1.70127766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.787719421 meters 0.0563423609595716 Centerline is valid? [True, True] Translation: X:158.80, Y:-40.31, Z:-17.02 [[ 9.43502602e-01 -3.21493268e-01 8.02802529e-02 1.58803703e+02] [ 3.20559210e-01 9.46908542e-01 2.46171724e-02 -4.03148250e+01] [-8.39323124e-02 2.50820822e-03 9.96468301e-01 -1.70171440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.817719421 meters 0.05725734937762155 Centerline is valid? [True, True] Translation: X:158.83, Y:-40.30, Z:-17.02 [[ 9.43149340e-01 -3.22976604e-01 7.84565854e-02 1.58826667e+02] [ 3.22087370e-01 9.46403505e-01 2.40859224e-02 -4.02956719e+01] [-8.20307768e-02 2.55325342e-03 9.96626526e-01 -1.70229435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.847719421 meters 0.058101112920213194 Centerline is valid? [True, True] Translation: X:158.85, Y:-40.28, Z:-17.03 [[ 9.42480500e-01 -3.25053457e-01 7.79150628e-02 1.58851641e+02] [ 3.24182947e-01 9.45691766e-01 2.39269845e-02 -4.02841963e+01] [-8.14611824e-02 2.70801832e-03 9.96672836e-01 -1.70260995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.877719421 meters 0.060438928342293495 Centerline is valid? [True, True] Translation: X:158.88, Y:-40.27, Z:-17.03 [[ 9.40544409e-01 -3.30791441e-01 7.71572187e-02 1.58877463e+02] [ 3.29956253e-01 9.43698580e-01 2.37036061e-02 -4.02731297e+01] [-8.06541077e-02 3.16421256e-03 9.96737128e-01 -1.70288827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.907719421 meters 0.06207230638680477 Centerline is valid? [True, True] Translation: X:158.91, Y:-40.26, Z:-17.03 [[ 9.39039518e-01 -3.35125230e-01 7.67845346e-02 1.58905624e+02] [ 3.34311891e-01 9.42167049e-01 2.35968380e-02 -4.02643954e+01] [-8.02517541e-02 3.51161954e-03 9.96768441e-01 -1.70316731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.937719421 meters 0.06606418742662377 Centerline is valid? [True, True] Translation: X:158.93, Y:-40.25, Z:-17.04 [[ 9.36111132e-01 -3.43303979e-01 7.64089453e-02 1.58931254e+02] [ 3.42525375e-01 9.39215013e-01 2.34846205e-02 -4.02526385e+01] [-7.98267922e-02 4.18778792e-03 9.96799953e-01 -1.70353348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.967719421 meters 0.06606418742662377 Centerline is valid? [True, True] Translation: X:158.96, Y:-40.24, Z:-17.04 [[ 9.36016604e-01 -3.43561843e-01 7.64079610e-02 1.58957518e+02] [ 3.42783833e-01 9.39120635e-01 2.34878243e-02 -4.02443516e+01] [-7.98258130e-02 4.20642013e-03 9.96799953e-01 -1.70380782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.997719421 meters 0.06747787892073434 Centerline is valid? [True, True] Translation: X:158.98, Y:-40.23, Z:-17.04 [[ 9.35131427e-01 -3.45981328e-01 7.63291208e-02 1.58983936e+02] [ 3.45210726e-01 9.38231164e-01 2.34912315e-02 -4.02321329e+01] [-7.97418873e-02 4.38224233e-03 9.96805913e-01 -1.70417602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.027719421 meters 0.06884593583713737 Centerline is valid? [True, True] Translation: X:159.01, Y:-40.22, Z:-17.05 [[ 9.34458780e-01 -3.47922207e-01 7.57425013e-02 1.59010969e+02] [ 3.47169631e-01 9.37512553e-01 2.33122259e-02 -4.02193448e+01] [-7.91203869e-02 4.51118205e-03 9.96854861e-01 -1.70450376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.057719421 meters 0.0707754707374182 Centerline is valid? [True, True] Translation: X:159.04, Y:-40.20, Z:-17.05 [[ 9.33408967e-01 -3.50603892e-01 7.63191385e-02 1.59035320e+02] [ 3.49847339e-01 9.36511755e-01 2.35068471e-02 -4.02026541e+01] [-7.97153624e-02 4.75854566e-03 9.96806309e-01 -1.70465704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.087719421 meters 0.06594066398929525 Centerline is valid? [True, True] Translation: X:159.06, Y:-40.17, Z:-17.05 [[ 9.33024599e-01 -3.51659768e-01 7.61610524e-02 1.59055795e+02] [ 3.50909596e-01 9.36115390e-01 2.34612833e-02 -4.01702613e+01] [-7.95459228e-02 4.83568968e-03 9.96819473e-01 -1.70450333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.117719421 meters 0.06555400497180942 Centerline is valid? [True, True] Translation: X:159.08, Y:-40.15, Z:-17.05 [[ 9.33021015e-01 -3.51787498e-01 7.56131072e-02 1.59080006e+02] [ 3.51046892e-01 9.36067620e-01 2.33128705e-02 -4.01525977e+01] [-7.89801577e-02 4.79234817e-03 9.96864669e-01 -1.70473797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.147719421 meters 0.06878754426863679 Centerline is valid? [True, True] Translation: X:159.10, Y:-40.13, Z:-17.05 [[ 9.34243770e-01 -3.48707992e-01 7.47751004e-02 1.59103565e+02] [ 3.47971944e-01 9.37220820e-01 2.30794613e-02 -4.01319617e+01] [-7.81287735e-02 4.45779413e-03 9.96933309e-01 -1.70519147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.177719421 meters 0.06204786030963071 Centerline is valid? [True, True] Translation: X:159.12, Y:-40.10, Z:-17.05 [[ 9.34950633e-01 -3.46861617e-01 7.45273939e-02 1.59124523e+02] [ 3.46122692e-01 9.37906615e-01 2.30274464e-02 -4.01004602e+01] [-7.78870730e-02 4.26609655e-03 9.96953060e-01 -1.70504006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.207719421 meters 0.06419676446718679 Centerline is valid? [True, True] Translation: X:159.15, Y:-40.08, Z:-17.05 [[ 9.36394859e-01 -3.43362441e-01 7.25734281e-02 1.59146588e+02] [ 3.42650772e-01 9.39195033e-01 2.24307648e-02 -4.00759260e+01] [-7.58624853e-02 3.86328836e-03 9.97110805e-01 -1.70536084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.237719421 meters 0.064578778972962 Centerline is valid? [True, True] Translation: X:159.17, Y:-40.06, Z:-17.06 [[ 9.36852724e-01 -3.42489845e-01 7.07649559e-02 1.59170381e+02] [ 3.41810787e-01 9.39514253e-01 2.18713336e-02 -4.00569104e+01] [-7.39753943e-02 3.69800675e-03 9.97253210e-01 -1.70572301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26771942099998 meters 0.06530360537242491 Centerline is valid? [True, True] Translation: X:159.19, Y:-40.03, Z:-17.06 [[ 9.37764053e-01 -3.40443557e-01 6.85329508e-02 1.59191499e+02] [ 3.39799993e-01 9.40258779e-01 2.11989140e-02 -4.00283069e+01] [-7.16557423e-02 3.40791665e-03 9.97423601e-01 -1.70610690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29771942099998 meters 0.06149336251236413 Centerline is valid? [True, True] Translation: X:159.21, Y:-40.00, Z:-17.06 [[ 9.38329332e-01 -3.39241334e-01 6.67336698e-02 1.59214635e+02] [ 3.38626789e-01 9.40693897e-01 2.06612970e-02 -4.00034594e+01] [-6.97851219e-02 3.21070728e-03 9.97556880e-01 -1.70594136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32771942099998 meters 0.06489253963741337 Centerline is valid? [True, True] Translation: X:159.24, Y:-39.99, Z:-17.07 [[ 9.39006288e-01 -3.37969917e-01 6.35887334e-02 1.59237836e+02] [ 3.37407728e-01 9.41152291e-01 1.97076261e-02 -3.99857864e+01] [-6.65072669e-02 2.94974525e-03 9.97781581e-01 -1.70709166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35771942099998 meters 0.06574075797686928 Centerline is valid? [True, True] Translation: X:159.26, Y:-39.97, Z:-17.08 [[ 9.39097600e-01 -3.38043075e-01 6.18269985e-02 1.59261741e+02] [ 3.37510195e-01 9.41126325e-01 1.91861595e-02 -3.99708637e+01] [-6.46727642e-02 2.84956601e-03 9.97902457e-01 -1.70768934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38771942099999 meters 0.0658293893955295 Centerline is valid? [True, True] Translation: X:159.28, Y:-39.95, Z:-17.08 [[ 9.38816628e-01 -3.38809026e-01 6.19014015e-02 1.59284883e+02] [ 3.38276146e-01 9.40850696e-01 1.92150278e-02 -3.99487898e+01] [-6.47502015e-02 2.90037991e-03 9.97897289e-01 -1.70799464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.417719421 meters 0.06559606547936578 Centerline is valid? [True, True] Translation: X:159.31, Y:-39.93, Z:-17.08 [[ 9.38389633e-01 -3.39811895e-01 6.28710762e-02 1.59310157e+02] [ 3.39263124e-01 9.40488644e-01 1.95356883e-02 -3.99345438e+01] [-6.57679925e-02 2.99775036e-03 9.97830439e-01 -1.70810732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.447719421 meters 0.0704017603838539 Centerline is valid? [True, True] Translation: X:159.34, Y:-39.92, Z:-17.09 [[ 9.37054742e-01 -3.43599279e-01 6.21928114e-02 1.59336246e+02] [ 3.43068422e-01 9.39110918e-01 1.93582268e-02 -3.99249325e+01] [-6.50574210e-02 3.19667148e-03 9.97876402e-01 -1.70867687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.477719421 meters 0.06822797910456199 Centerline is valid? [True, True] Translation: X:159.36, Y:-39.91, Z:-17.09 [[ 9.36233001e-01 -3.45929065e-01 6.16510332e-02 1.59362128e+02] [ 3.45412045e-01 9.38254783e-01 1.91958486e-02 -3.99069718e+01] [-6.44847788e-02 3.32322257e-03 9.97913157e-01 -1.70865091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.507719421 meters 0.07236187897355767 Centerline is valid? [True, True] Translation: X:159.39, Y:-39.89, Z:-17.09 [[ 9.34488715e-01 -3.50371470e-01 6.30132909e-02 1.59387566e+02] [ 3.49841247e-01 9.36603482e-01 1.96219162e-02 -3.98925872e+01] [-6.58934273e-02 3.70818897e-03 9.97819776e-01 -1.70912646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.537719421 meters 0.07081204532232253 Centerline is valid? [True, True] Translation: X:159.41, Y:-39.88, Z:-17.09 [[ 9.33871109e-01 -3.51883914e-01 6.37374555e-02 1.59412223e+02] [ 3.51344763e-01 9.36035704e-01 1.98499103e-02 -3.98753199e+01] [-6.66453981e-02 3.85656344e-03 9.97769271e-01 -1.70920675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.567719421 meters 0.0762580180707198 Centerline is valid? [True, True] Translation: X:159.44, Y:-39.86, Z:-17.10 [[ 9.32852730e-01 -3.54423114e-01 6.45758441e-02 1.59438273e+02] [ 3.53873658e-01 9.35076335e-01 2.01415588e-02 -3.98644377e+01] [-6.75219776e-02 4.06258211e-03 9.97709516e-01 -1.70975288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.597719421 meters 0.07462136289618782 Centerline is valid? [True, True] Translation: X:159.46, Y:-39.85, Z:-17.10 [[ 9.32158283e-01 -3.56109115e-01 6.53240669e-02 1.59462756e+02] [ 3.55550850e-01 9.34434797e-01 2.03765411e-02 -3.98476035e+01] [-6.82973532e-02 4.23186596e-03 9.97656034e-01 -1.70978927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.627719421 meters 0.07932485421346151 Centerline is valid? [True, True] Translation: X:159.49, Y:-39.83, Z:-17.10 [[ 9.30820727e-01 -3.59330276e-01 6.67422421e-02 1.59487690e+02] [ 3.58754719e-01 9.33199352e-01 2.08331597e-02 -3.98338730e+01] [-6.97698021e-02 4.55215744e-03 9.97552732e-01 -1.71019109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.657719421 meters 0.0782188287187117 Centerline is valid? [True, True] Translation: X:159.51, Y:-39.82, Z:-17.10 [[ 9.30102726e-01 -3.61080044e-01 6.73061681e-02 1.59512788e+02] [ 3.60499149e-01 9.32522873e-01 2.10108298e-02 -3.98171566e+01] [-7.03511326e-02 4.72158622e-03 9.97511115e-01 -1.71028143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.687719421 meters 0.08225795971640398 Centerline is valid? [True, True] Translation: X:159.54, Y:-39.80, Z:-17.11 [[ 9.29124859e-01 -3.63493622e-01 6.78187551e-02 1.59536894e+02] [ 3.62908186e-01 9.31583721e-01 2.11995058e-02 -3.98013200e+01] [-7.08847334e-02 4.91499354e-03 9.97472404e-01 -1.71073520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.717719421 meters 0.08077739897335716 Centerline is valid? [True, True] Translation: X:159.56, Y:-39.78, Z:-17.11 [[ 9.28832091e-01 -3.64154424e-01 6.82825235e-02 1.59561683e+02] [ 3.63562604e-01 9.31325172e-01 2.13461352e-02 -3.97832023e+01] [-7.13665225e-02 4.99799662e-03 9.97437637e-01 -1.71095978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.747719421 meters 0.08365839569129353 Centerline is valid? [True, True] Translation: X:159.58, Y:-39.77, Z:-17.12 [[ 9.28757357e-01 -3.64653784e-01 6.66137423e-02 1.59584618e+02] [ 3.64089926e-01 9.31130352e-01 2.08516914e-02 -3.97659204e+01] [-6.96297255e-02 4.88723070e-03 9.97560934e-01 -1.71165417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.777719421 meters 0.07842397458201744 Centerline is valid? [True, True] Translation: X:159.61, Y:-39.74, Z:-17.12 [[ 9.29673477e-01 -3.62829578e-01 6.37332236e-02 1.59605207e+02] [ 3.62309185e-01 9.31844434e-01 1.99500784e-02 -3.97354903e+01] [-6.66279282e-02 4.54407356e-03 9.97767543e-01 -1.71196553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.807719421 meters 0.08350827996575068 Centerline is valid? [True, True] Translation: X:159.63, Y:-39.73, Z:-17.13 [[ 9.29673541e-01 -3.62863117e-01 6.35410556e-02 1.59630672e+02] [ 3.62344140e-01 9.31831552e-01 1.99169184e-02 -3.97279356e+01] [-6.64366755e-02 4.50749707e-03 9.97780462e-01 -1.71267407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.837719421 meters 0.08399500479711809 Centerline is valid? [True, True] Translation: X:159.65, Y:-39.71, Z:-17.13 [[ 9.29446888e-01 -3.63398156e-01 6.37986109e-02 1.59654406e+02] [ 3.62875377e-01 9.31622807e-01 2.00101608e-02 -3.97096674e+01] [-6.67078965e-02 4.55256330e-03 9.97762161e-01 -1.71299955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.867719421 meters 0.08017545263920293 Centerline is valid? [True, True] Translation: X:159.68, Y:-39.69, Z:-17.13 [[ 9.28884442e-01 -3.64737131e-01 6.43468643e-02 1.59678936e+02] [ 3.64208472e-01 9.31098730e-01 2.01827464e-02 -3.96900613e+01] [-6.72746807e-02 4.68823397e-03 9.97723478e-01 -1.71294730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.897719421 meters 0.0821120468101322 Centerline is valid? [True, True] Translation: X:159.70, Y:-39.67, Z:-17.13 [[ 9.28037893e-01 -3.66754466e-01 6.50909477e-02 1.59702685e+02] [ 3.66216450e-01 9.30305062e-01 2.04451420e-02 -3.96731854e+01] [-6.80527853e-02 4.86350927e-03 9.97669868e-01 -1.71342853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.927719421 meters 0.08322525452177795 Centerline is valid? [True, True] Translation: X:159.73, Y:-39.66, Z:-17.14 [[ 9.27742228e-01 -3.67743749e-01 6.37094417e-02 1.59729841e+02] [ 3.67230598e-01 9.29914623e-01 2.00120589e-02 -3.96609681e+01] [-6.66036510e-02 4.83002426e-03 9.97767821e-01 -1.71382089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.957719421 meters 0.09140894204735026 Centerline is valid? [True, True] Translation: X:159.76, Y:-39.66, Z:-17.15 [[ 9.27071835e-01 -3.69545636e-01 6.30383626e-02 1.59757309e+02] [ 3.69046035e-01 9.29199725e-01 1.98215604e-02 -3.96560104e+01] [-6.59002004e-02 4.88804739e-03 9.97814247e-01 -1.71463559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.987719421 meters 0.08536775432790515 Centerline is valid? [True, True] Translation: X:159.78, Y:-39.63, Z:-17.15 [[ 9.26882775e-01 -3.70089149e-01 6.26286082e-02 1.59780487e+02] [ 3.69597265e-01 9.28983350e-01 1.96925845e-02 -3.96337238e+01] [-6.54689461e-02 4.89464492e-03 9.97842603e-01 -1.71464340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01771942099998 meters 0.08548007410512976 Centerline is valid? [True, True] Translation: X:159.81, Y:-39.62, Z:-17.15 [[ 9.26775227e-01 -3.70310470e-01 6.29113147e-02 1.59806024e+02] [ 3.69813295e-01 9.28895049e-01 1.98018709e-02 -3.96195969e+01] [-6.57708489e-02 4.91355719e-03 9.97822656e-01 -1.71502200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04771942099998 meters 0.08624264457087555 Centerline is valid? [True, True] Translation: X:159.83, Y:-39.60, Z:-17.15 [[ 9.27278708e-01 -3.69137069e-01 6.23860675e-02 1.59828839e+02] [ 3.68643805e-01 9.29362748e-01 1.96628755e-02 -3.96003879e+01] [-6.52375834e-02 4.76527148e-03 9.97858382e-01 -1.71543712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07771942099998 meters 0.08219822681931911 Centerline is valid? [True, True] Translation: X:159.85, Y:-39.57, Z:-17.15 [[ 9.27965787e-01 -3.67378628e-01 6.25495172e-02 1.59850902e+02] [ 3.66878233e-01 9.30059870e-01 1.97231173e-02 -3.95723870e+01] [-6.54206476e-02 4.64567824e-03 9.97846960e-01 -1.71539903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10771942099998 meters 0.08094095225370057 Centerline is valid? [True, True] Translation: X:159.88, Y:-39.56, Z:-17.16 [[ 9.28442578e-01 -3.66245657e-01 6.21168092e-02 1.59875627e+02] [ 3.65749939e-01 9.30507132e-01 1.95821294e-02 -3.95553231e+01] [-6.49720038e-02 4.53833653e-03 9.97876767e-01 -1.71565433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13771942099999 meters 0.0861960610887028 Centerline is valid? [True, True] Translation: X:159.90, Y:-39.54, Z:-17.16 [[ 9.28087947e-01 -3.66907094e-01 6.34976113e-02 1.59900452e+02] [ 3.66388834e-01 9.30245908e-01 2.00442529e-02 -3.95413205e+01] [-6.64227717e-02 4.66198625e-03 9.97780678e-01 -1.71594310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.167719421 meters 0.08250144056986698 Centerline is valid? [True, True] Translation: X:159.92, Y:-39.52, Z:-17.16 [[ 9.27590587e-01 -3.67955070e-01 6.46897930e-02 1.59924685e+02] [ 3.67419586e-01 9.29831053e-01 2.04220930e-02 -3.95200964e+01] [-6.76649910e-02 4.82495576e-03 9.97696431e-01 -1.71577866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.197719421 meters 0.08204422778197872 Centerline is valid? [True, True] Translation: X:159.95, Y:-39.50, Z:-17.16 [[ 9.27817164e-01 -3.67031367e-01 6.66579807e-02 1.59947710e+02] [ 3.66458407e-01 9.30195785e-01 2.10721998e-02 -3.94984619e+01] [-6.97391309e-02 4.87622880e-03 9.97553345e-01 -1.71577019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.227719421 meters 0.08205243470047258 Centerline is valid? [True, True] Translation: X:159.97, Y:-39.48, Z:-17.16 [[ 9.28131166e-01 -3.66133875e-01 6.72199744e-02 1.59972381e+02] [ 3.65548585e-01 9.30549571e-01 2.12538813e-02 -3.94839614e+01] [-7.03332843e-02 4.84577697e-03 9.97511778e-01 -1.71612947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.257719421 meters 0.07924470009884525 Centerline is valid? [True, True] Translation: X:160.00, Y:-39.46, Z:-17.16 [[ 9.29131217e-01 -3.63501217e-01 6.76908151e-02 1.59995148e+02] [ 3.62900254e-01 9.31582005e-01 2.14096756e-02 -3.94576470e+01] [-7.08419884e-02 4.67261599e-03 9.97476606e-01 -1.71630049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.287719421 meters 0.07688394152975819 Centerline is valid? [True, True] Translation: X:160.02, Y:-39.44, Z:-17.17 [[ 9.30332056e-01 -3.60553913e-01 6.69562663e-02 1.60020630e+02] [ 3.59957791e-01 9.32728033e-01 2.11850254e-02 -3.94391753e+01] [-7.00903303e-02 4.39232154e-03 9.97530979e-01 -1.71658312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.317719421 meters 0.0736395690932454 Centerline is valid? [True, True] Translation: X:160.04, Y:-39.42, Z:-17.17 [[ 9.33765453e-01 -3.51765341e-01 6.59031335e-02 1.60043048e+02] [ 3.51165042e-01 9.36081061e-01 2.08653027e-02 -3.94155571e+01] [-6.90303655e-02 3.65957781e-03 9.97607847e-01 -1.71712972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.347719421 meters 0.06986208883223348 Centerline is valid? [True, True] Translation: X:160.07, Y:-39.39, Z:-17.18 [[ 9.35653469e-01 -3.47085771e-01 6.39065929e-02 1.60067465e+02] [ 3.46510232e-01 9.37827895e-01 2.02360623e-02 -3.93949600e+01] [-6.69570348e-02 3.21034646e-03 9.97750695e-01 -1.71754031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.377719421 meters 0.06448619149301506 Centerline is valid? [True, True] Translation: X:160.09, Y:-39.36, Z:-17.18 [[ 9.39764116e-01 -3.36398687e-01 6.06574818e-02 1.60088098e+02] [ 3.35857759e-01 9.41716806e-01 1.92099494e-02 -3.93642365e+01] [-6.35843718e-02 2.31946481e-03 9.97973771e-01 -1.71828562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.407719421 meters 0.05990267796479935 Centerline is valid? [True, True] Translation: X:160.11, Y:-39.33, Z:-17.19 [[ 9.43792130e-01 -3.25106265e-01 5.96852770e-02 1.60108008e+02] [ 3.24559827e-01 9.45676252e-01 1.89035508e-02 -3.93332277e+01] [-6.25886119e-02 1.53042071e-03 9.98038237e-01 -1.71878252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.437719421 meters 0.056959747724347906 Centerline is valid? [True, True] Translation: X:160.13, Y:-39.31, Z:-17.19 [[ 9.45409567e-01 -3.20307529e-01 6.00319777e-02 1.60131928e+02] [ 3.19744936e-01 9.47312833e-01 1.90150616e-02 -3.93125521e+01] [-6.29597303e-02 1.21789969e-03 9.98015325e-01 -1.71860594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.467719421 meters 0.05552035441840359 Centerline is valid? [True, True] Translation: X:160.16, Y:-39.30, Z:-17.19 [[ 9.46623256e-01 -3.16331090e-01 6.19600955e-02 1.60157301e+02] [ 3.15723285e-01 9.48648339e-01 1.96248702e-02 -3.92954602e+01] [-6.49862983e-02 9.84886381e-04 9.97885670e-01 -1.71858886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.497719421 meters 0.05437052280173328 Centerline is valid? [True, True] Translation: X:160.18, Y:-39.28, Z:-17.19 [[ 9.48479360e-01 -3.10333938e-01 6.38729317e-02 1.60181364e+02] [ 3.09672546e-01 9.50627439e-01 2.02580186e-02 -3.92772641e+01] [-6.70061121e-02 5.65380841e-04 9.97752405e-01 -1.71871114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.527719421 meters 0.0541062347977096 Centerline is valid? [True, True] Translation: X:160.21, Y:-39.27, Z:-17.19 [[ 9.49013771e-01 -3.08504877e-01 6.47889114e-02 1.60208192e+02] [ 3.07820250e-01 9.51222657e-01 2.05462982e-02 -3.92651993e+01] [-6.79673137e-02 4.44619011e-04 9.97687449e-01 -1.71896469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.557719421 meters 0.05361256137615651 Centerline is valid? [True, True] Translation: X:160.23, Y:-39.25, Z:-17.19 [[ 9.50230247e-01 -3.04495527e-01 6.59162556e-02 1.60233417e+02] [ 3.03775864e-01 9.52513755e-01 2.09229683e-02 -3.92486738e+01] [-6.91570904e-02 1.42130115e-04 9.97605772e-01 -1.71915323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.587719421 meters 0.05367317890286549 Centerline is valid? [True, True] Translation: X:160.26, Y:-39.24, Z:-17.19 [[ 9.51133726e-01 -3.01828584e-01 6.51470742e-02 1.60259097e+02] [ 3.01117937e-01 9.53362209e-01 2.06999235e-02 -3.92357572e+01] [-6.83565872e-02 -7.14427920e-05 9.97660950e-01 -1.71946980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.617719421 meters 0.054067386945281945 Centerline is valid? [True, True] Translation: X:160.28, Y:-39.22, Z:-17.20 [[ 9.52591846e-01 -2.97222234e-01 6.50209148e-02 1.60284350e+02] [ 2.96501697e-01 9.54808232e-01 2.06877571e-02 -3.92222210e+01] [-6.82313661e-02 -4.28177076e-04 9.97669433e-01 -1.71980077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.647719421 meters 0.05485654696989003 Centerline is valid? [True, True] Translation: X:160.31, Y:-39.22, Z:-17.20 [[ 9.53401780e-01 -2.94817288e-01 6.40922166e-02 1.60311427e+02] [ 2.94111401e-01 9.55553458e-01 2.03978865e-02 -3.92162549e+01] [-6.72571887e-02 -5.97129691e-04 9.97735493e-01 -1.72024033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.677719421 meters 0.054806060912989105 Centerline is valid? [True, True] Translation: X:160.34, Y:-39.21, Z:-17.20 [[ 9.53176684e-01 -2.95799160e-01 6.29052108e-02 1.60339769e+02] [ 2.95120949e-01 9.55250011e-01 2.00260462e-02 -3.92118371e+01] [-6.60138909e-02 -5.23714752e-04 9.97818567e-01 -1.72049462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.707719421 meters 0.05366906951476135 Centerline is valid? [True, True] Translation: X:160.37, Y:-39.22, Z:-17.20 [[ 9.51127352e-01 -3.01834321e-01 6.52135241e-02 1.60371928e+02] [ 3.01117508e-01 9.53360385e-01 2.07899716e-02 -3.92162612e+01] [-6.84471174e-02 -1.36976786e-04 9.97654737e-01 -1.72027528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.737719421 meters 0.05369735975614865 Centerline is valid? [True, True] Translation: X:160.40, Y:-39.22, Z:-17.21 [[ 9.49768985e-01 -3.05974804e-01 6.57137375e-02 1.60401907e+02] [ 3.05256859e-01 9.52039596e-01 2.09489172e-02 -3.92150318e+01] [-6.89719209e-02 1.62937305e-04 9.97618588e-01 -1.72058524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76771942099998 meters 0.0547766180577323 Centerline is valid? [True, True] Translation: X:160.43, Y:-39.22, Z:-17.21 [[ 9.47745443e-01 -3.12717121e-01 6.31393504e-02 1.60434506e+02] [ 3.12067479e-01 9.49846114e-01 2.01555937e-02 -3.92243560e+01] [-6.62756659e-02 6.01365797e-04 9.97801170e-01 -1.72121268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79771942099998 meters 0.05589901263038333 Centerline is valid? [True, True] Translation: X:160.47, Y:-39.23, Z:-17.22 [[ 9.46081752e-01 -3.17832393e-01 6.25450916e-02 1.60466154e+02] [ 3.17205700e-01 9.48146443e-01 1.99716476e-02 -3.92317384e+01] [-6.56495427e-02 9.44848239e-04 9.97842295e-01 -1.72163667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82771942099998 meters 0.0568141616358743 Centerline is valid? [True, True] Translation: X:160.49, Y:-39.23, Z:-17.22 [[ 9.45635249e-01 -3.19265743e-01 6.19948409e-02 1.60494091e+02] [ 3.18652651e-01 9.47664670e-01 1.98030412e-02 -3.92302800e+01] [-6.50727531e-02 1.02836658e-03 9.97879992e-01 -1.72226373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85771942099998 meters 0.05631530697005887 Centerline is valid? [True, True] Translation: X:160.52, Y:-39.22, Z:-17.22 [[ 9.45564394e-01 -3.19515217e-01 6.17899816e-02 1.60521554e+02] [ 3.18906795e-01 9.47580570e-01 1.97362301e-02 -3.92245430e+01] [-6.48570119e-02 1.04336854e-03 9.97894022e-01 -1.72229415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88771942099999 meters 0.05631530697005887 Centerline is valid? [True, True] Translation: X:160.55, Y:-39.22, Z:-17.23 [[ 9.45456659e-01 -3.19835158e-01 6.17833087e-02 1.60547551e+02] [ 3.19226055e-01 9.47472629e-01 1.97570912e-02 -3.92159324e+01] [-6.48570063e-02 1.04336845e-03 9.97894022e-01 -1.72256725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.917719421 meters 0.0560223327933285 Centerline is valid? [True, True] Translation: X:160.57, Y:-39.21, Z:-17.23 [[ 9.47202207e-01 -3.15193543e-01 5.88303425e-02 1.60574438e+02] [ 3.14630545e-01 9.49027182e-01 1.88421933e-02 -3.92111910e+01] [-6.17705318e-02 6.62455654e-04 9.98090158e-01 -1.72322447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.947719421 meters 0.056130770743359634 Centerline is valid? [True, True] Translation: X:160.60, Y:-39.20, Z:-17.24 [[ 9.48222179e-01 -3.12290687e-01 5.78724988e-02 1.60600413e+02] [ 3.11740086e-01 9.49986482e-01 1.85419243e-02 -3.92033587e+01] [-6.07685618e-02 4.59313848e-04 9.98151778e-01 -1.72385603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.977719421 meters 0.056160233163947255 Centerline is valid? [True, True] Translation: X:160.63, Y:-39.19, Z:-17.24 [[ 9.50768945e-01 -3.05061086e-01 5.45540657e-02 1.60626990e+02] [ 3.04559467e-01 9.52332785e-01 1.74870637e-02 -3.91900887e+01] [-5.72882479e-02 -1.11998956e-05 9.98357680e-01 -1.72446775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.007719421 meters 0.05673410887188528 Centerline is valid? [True, True] Translation: X:160.65, Y:-39.18, Z:-17.25 [[ 9.52146672e-01 -3.00827289e-01 5.40338589e-02 1.60652098e+02] [ 3.00328393e-01 9.53678600e-01 1.73200337e-02 -3.91790270e+01] [-5.67412737e-02 -2.63310431e-04 9.98388881e-01 -1.72505536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.037719421 meters 0.05693294757338865 Centerline is valid? [True, True] Translation: X:160.68, Y:-39.17, Z:-17.25 [[ 9.54395284e-01 -2.92881775e-01 5.78783849e-02 1.60679577e+02] [ 2.92294607e-01 9.56148337e-01 1.85531812e-02 -3.91674874e+01] [-6.07742101e-02 -7.89528912e-04 9.98151227e-01 -1.72485583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.067719421 meters 0.05735458811626104 Centerline is valid? [True, True] Translation: X:160.71, Y:-39.16, Z:-17.25 [[ 9.55353823e-01 -2.89378414e-01 5.96590909e-02 1.60706206e+02] [ 2.88746699e-01 9.57214194e-01 1.91397904e-02 -3.91578029e+01] [-6.26451708e-02 -1.05890638e-03 9.98035301e-01 -1.72484401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.097719421 meters 0.05859661615911791 Centerline is valid? [True, True] Translation: X:160.73, Y:-39.15, Z:-17.25 [[ 9.56818520e-01 -2.83832735e-01 6.27478948e-02 1.60731876e+02] [ 2.83119921e-01 9.58872595e-01 2.01607868e-02 -3.91474652e+01] [-6.58895280e-02 -1.52503517e-03 9.97825759e-01 -1.72483838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.127719421 meters 0.05962265096917703 Centerline is valid? [True, True] Translation: X:160.76, Y:-39.14, Z:-17.25 [[ 9.57613282e-01 -2.81119034e-01 6.28402066e-02 1.60758835e+02] [ 2.80397465e-01 9.59671355e-01 2.02027942e-02 -3.91389185e+01] [-6.59853362e-02 -1.72622942e-03 9.97819100e-01 -1.72506662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.157719421 meters 0.06259221116878078 Centerline is valid? [True, True] Translation: X:160.79, Y:-39.13, Z:-17.26 [[ 9.59364984e-01 -2.75166171e-01 6.24692337e-02 1.60787148e+02] [ 2.74439862e-01 9.61394316e-01 2.00930744e-02 -3.91318455e+01] [-6.55865005e-02 -2.13254413e-03 9.97844609e-01 -1.72552257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.187719421 meters 0.06428520133675515 Centerline is valid? [True, True] Translation: X:160.82, Y:-39.12, Z:-17.26 [[ 9.60263577e-01 -2.72126285e-01 6.19769872e-02 1.60815090e+02] [ 2.71405073e-01 9.62258746e-01 1.99346893e-02 -3.91246975e+01] [-6.50626509e-02 -2.32168738e-03 9.97878480e-01 -1.72593913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.217719421 meters 0.06804313172929366 Centerline is valid? [True, True] Translation: X:160.84, Y:-39.12, Z:-17.27 [[ 9.62020010e-01 -2.66295444e-01 6.00353041e-02 1.60842602e+02] [ 2.65607133e-01 9.63887852e-01 1.93147445e-02 -3.91163723e+01] [-6.30107288e-02 -2.63536568e-03 9.98009370e-01 -1.72670591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.247719421 meters 0.06769627167073777 Centerline is valid? [True, True] Translation: X:160.87, Y:-39.12, Z:-17.27 [[ 9.63970703e-01 -2.59540210e-01 5.83040650e-02 1.60874777e+02] [ 2.58878548e-01 9.65727670e-01 1.87607117e-02 -3.91157261e+01] [-6.11750079e-02 -2.99110477e-03 9.98122573e-01 -1.72659561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.277719421 meters 0.07025161841302624 Centerline is valid? [True, True] Translation: X:160.90, Y:-39.11, Z:-17.27 [[ 9.64580579e-01 -2.57363427e-01 5.78651294e-02 1.60901952e+02] [ 2.56707979e-01 9.66309702e-01 1.86164875e-02 -3.91088780e+01] [-6.07068390e-02 -3.10266183e-03 9.98150817e-01 -1.72706227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.307719421 meters 0.07145031449348827 Centerline is valid? [True, True] Translation: X:160.93, Y:-39.11, Z:-17.27 [[ 9.65049744e-01 -2.55271446e-01 5.92914876e-02 1.60932868e+02] [ 2.54578918e-01 9.66863725e-01 1.90816878e-02 -3.91123657e+01] [-6.21977986e-02 -3.32041518e-03 9.98058319e-01 -1.72717237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.337719421 meters 0.07083549731018828 Centerline is valid? [True, True] Translation: X:160.96, Y:-39.11, Z:-17.27 [[ 9.65009876e-01 -2.55660387e-01 5.82555218e-02 1.60962447e+02] [ 2.54992649e-01 9.66761238e-01 1.87472077e-02 -3.91106622e+01] [-6.11120988e-02 -3.23651077e-03 9.98125662e-01 -1.72748482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.367719421 meters 0.07317757688118763 Centerline is valid? [True, True] Translation: X:160.99, Y:-39.11, Z:-17.28 [[ 9.65418851e-01 -2.54343287e-01 5.72357783e-02 1.60991384e+02] [ 2.53694890e-01 9.67108417e-01 1.84448278e-02 -3.91107567e+01] [-6.00445212e-02 -3.28656001e-03 9.98190289e-01 -1.72816809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.397719421 meters 0.07297012078198017 Centerline is valid? [True, True] Translation: X:161.02, Y:-39.11, Z:-17.28 [[ 9.65482210e-01 -2.53916522e-01 5.80560257e-02 1.61020291e+02] [ 2.53248880e-01 9.67220313e-01 1.87048515e-02 -3.91084896e+01] [-6.09024382e-02 -3.35657783e-03 9.98138080e-01 -1.72836117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.427719421 meters 0.07318268797658294 Centerline is valid? [True, True] Translation: X:161.05, Y:-39.11, Z:-17.29 [[ 9.65570168e-01 -2.53678460e-01 5.76323732e-02 1.61050942e+02] [ 2.53018416e-01 9.67282717e-01 1.85964301e-02 -3.91144937e+01] [-6.04643123e-02 -3.37410635e-03 9.98164657e-01 -1.72851837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.457719421 meters 0.0733531446001279 Centerline is valid? [True, True] Translation: X:161.08, Y:-39.11, Z:-17.29 [[ 9.65288678e-01 -2.54712741e-01 5.77856982e-02 1.61080616e+02] [ 2.54050891e-01 9.67011063e-01 1.86480280e-02 -3.91133874e+01] [-6.06292997e-02 -3.32022214e-03 9.98154830e-01 -1.72881926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.487719421 meters 0.0714927696960266 Centerline is valid? [True, True] Translation: X:161.11, Y:-39.12, Z:-17.29 [[ 9.64147765e-01 -2.59296294e-01 5.64315491e-02 1.61114110e+02] [ 2.58671569e-01 9.65793214e-01 1.82342427e-02 -3.91242208e+01] [-5.92292787e-02 -2.98326703e-03 9.98239947e-01 -1.72913722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51771942099998 meters 0.07023632144170522 Centerline is valid? [True, True] Translation: X:161.14, Y:-39.13, Z:-17.29 [[ 9.63305456e-01 -2.62367079e-01 5.66225565e-02 1.61144762e+02] [ 2.61743128e-01 9.64964056e-01 1.83004414e-02 -3.91250588e+01] [-5.94401651e-02 -2.80835002e-03 9.98227920e-01 -1.72943548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54771942099998 meters 0.06697758351018006 Centerline is valid? [True, True] Translation: X:161.18, Y:-39.13, Z:-17.30 [[ 9.61417727e-01 -2.68733143e-01 5.88086012e-02 1.61178729e+02] [ 2.68071694e-01 9.63211394e-01 1.90099261e-02 -3.91333875e+01] [-6.17537119e-02 -2.51155865e-03 9.98088258e-01 -1.72965404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57771942099998 meters 0.06497633351741927 Centerline is valid? [True, True] Translation: X:161.21, Y:-39.13, Z:-17.30 [[ 9.60458554e-01 -2.71804330e-01 6.03471015e-02 1.61209935e+02] [ 2.71113702e-01 9.62349603e-01 1.95090396e-02 -3.91331284e+01] [-6.33776506e-02 -2.37669786e-03 9.97986786e-01 -1.72974005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60771942099998 meters 0.06293748153767241 Centerline is valid? [True, True] Translation: X:161.24, Y:-39.14, Z:-17.30 [[ 9.59113608e-01 -2.76311622e-01 6.12615258e-02 1.61243501e+02] [ 2.75608870e-01 9.61065774e-01 1.98072919e-02 -3.91414923e+01] [-6.43493407e-02 -2.11322328e-03 9.97925196e-01 -1.72968341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63771942099999 meters 0.062259446839954255 Centerline is valid? [True, True] Translation: X:161.27, Y:-39.14, Z:-17.30 [[ 9.58643046e-01 -2.77861549e-01 6.16154995e-02 1.61273693e+02] [ 2.77154196e-01 9.60619018e-01 1.99161737e-02 -3.91405341e+01] [-6.47229595e-02 -2.01550720e-03 9.97901236e-01 -1.72975822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.667719421 meters 0.059771866678701324 Centerline is valid? [True, True] Translation: X:161.31, Y:-39.15, Z:-17.29 [[ 9.58501674e-01 -2.78008050e-01 6.31352911e-02 1.61306850e+02] [ 2.77264445e-01 9.60576508e-01 2.04254592e-02 -3.91461477e+01] [-6.63247195e-02 -2.07266541e-03 9.97795939e-01 -1.72930934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.697719421 meters 0.06142980684135923 Centerline is valid? [True, True] Translation: X:161.34, Y:-39.14, Z:-17.30 [[ 9.59510038e-01 -2.74448622e-01 6.33911687e-02 1.61335202e+02] [ 2.73689390e-01 9.61598882e-01 2.05355243e-02 -3.91411937e+01] [-6.65928233e-02 -2.35455146e-03 9.97777456e-01 -1.72975423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.727719421 meters 0.06278560847472013 Centerline is valid? [True, True] Translation: X:161.36, Y:-39.13, Z:-17.30 [[ 9.60370079e-01 -2.71427748e-01 6.33742049e-02 1.61363417e+02] [ 2.70661891e-01 9.62455387e-01 2.05370049e-02 -3.91337540e+01] [-6.65691579e-02 -2.57014288e-03 9.97778503e-01 -1.73016461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.757719421 meters 0.0662430589797544 Centerline is valid? [True, True] Translation: X:161.39, Y:-39.13, Z:-17.31 [[ 9.62258946e-01 -2.64925212e-01 6.22282372e-02 1.61390975e+02] [ 2.64172953e-01 9.64264389e-01 2.01702733e-02 -3.91271928e+01] [-6.53480870e-02 -2.97000871e-03 9.97858109e-01 -1.73078294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.787719421 meters 0.0679768744591966 Centerline is valid? [True, True] Translation: X:161.42, Y:-39.12, Z:-17.31 [[ 9.63050837e-01 -2.62279868e-01 6.11747980e-02 1.61418768e+02] [ 2.61547425e-01 9.64986876e-01 1.98311119e-02 -3.91197153e+01] [-6.42341787e-02 -3.09825805e-03 9.97930043e-01 -1.73128581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.817719421 meters 0.07668136618451676 Centerline is valid? [True, True] Translation: X:161.44, Y:-39.11, Z:-17.32 [[ 9.64150775e-01 -2.58302106e-01 6.07725641e-02 1.61444122e+02] [ 2.57571097e-01 9.66058398e-01 1.97053722e-02 -3.91080529e+01] [-6.37997851e-02 -3.34569390e-03 9.97957110e-01 -1.73244103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.847719421 meters 0.0708101961480094 Centerline is valid? [True, True] Translation: X:161.48, Y:-39.12, Z:-17.32 [[ 9.64396999e-01 -2.57477206e-01 6.03648559e-02 1.61477287e+02] [ 2.56754770e-01 9.66278491e-01 1.95669623e-02 -3.91153441e+01] [-6.33673087e-02 -3.37135507e-03 9.97984578e-01 -1.73198810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.877719421 meters 0.07065052032119114 Centerline is valid? [True, True] Translation: X:161.51, Y:-39.12, Z:-17.32 [[ 9.64921762e-01 -2.55544921e-01 6.01895948e-02 1.61508960e+02] [ 2.54821234e-01 9.66790797e-01 1.95369943e-02 -3.91172513e+01] [-6.31833260e-02 -3.51408410e-03 9.97995751e-01 -1.73225094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.907719421 meters 0.06907774024563165 Centerline is valid? [True, True] Translation: X:161.54, Y:-39.12, Z:-17.32 [[ 9.65184369e-01 -2.54487457e-01 6.04588187e-02 1.61538435e+02] [ 2.53755603e-01 9.67069399e-01 1.96181576e-02 -3.91154009e+01] [-6.34604484e-02 -3.59337511e-03 9.97977885e-01 -1.73230993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.937719421 meters 0.07365140560615802 Centerline is valid? [True, True] Translation: X:161.57, Y:-39.11, Z:-17.33 [[ 9.66517741e-01 -2.49086757e-01 6.16380073e-02 1.61567162e+02] [ 2.48313274e-01 9.68472696e-01 2.00288479e-02 -3.91090158e+01] [-6.46836478e-02 -4.05270143e-03 9.97897591e-01 -1.73261796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.967719421 meters 0.07545603888089118 Centerline is valid? [True, True] Translation: X:161.60, Y:-39.10, Z:-17.33 [[ 9.67196458e-01 -2.46302412e-01 6.21782337e-02 1.61596710e+02] [ 2.45509366e-01 9.69183579e-01 2.02074563e-02 -3.91032601e+01] [-6.52392683e-02 -4.27924150e-03 9.97860474e-01 -1.73280327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.997719421 meters 0.07998956836297579 Centerline is valid? [True, True] Translation: X:161.63, Y:-39.10, Z:-17.33 [[ 9.68755856e-01 -2.39721007e-01 6.36076227e-02 1.61626464e+02] [ 2.38876759e-01 9.70829786e-01 2.06741676e-02 -3.90986155e+01] [-6.67082070e-02 -4.83383825e-03 9.97760818e-01 -1.73295155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.027719421 meters 0.08085825612848714 Centerline is valid? [True, True] Translation: X:161.66, Y:-39.09, Z:-17.33 [[ 9.69333042e-01 -2.37274170e-01 6.39876756e-02 1.61655348e+02] [ 2.36414365e-01 9.71429681e-01 2.07995640e-02 -3.90924502e+01] [-6.70947266e-02 -5.03409894e-03 9.97733910e-01 -1.73333041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.057719421 meters 0.08515651520537582 Centerline is valid? [True, True] Translation: X:161.68, Y:-39.09, Z:-17.34 [[ 9.70181829e-01 -2.33725319e-01 6.41848388e-02 1.61684359e+02] [ 2.32852320e-01 9.72288230e-01 2.08661003e-02 -3.90879837e+01] [-6.72830993e-02 -5.29832270e-03 9.97719857e-01 -1.73389334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.087719421 meters 0.08630613473992532 Centerline is valid? [True, True] Translation: X:161.71, Y:-39.08, Z:-17.34 [[ 9.70643206e-01 -2.31902616e-01 6.38196227e-02 1.61713739e+02] [ 2.31035545e-01 9.72724047e-01 2.07486155e-02 -3.90845709e+01] [-6.68905399e-02 -5.39490131e-03 9.97745735e-01 -1.73418126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.117719421 meters 0.0882429248620118 Centerline is valid? [True, True] Translation: X:161.75, Y:-39.09, Z:-17.35 [[ 9.71139213e-01 -2.30008005e-01 6.31264316e-02 1.61745082e+02] [ 2.29155429e-01 9.73173367e-01 2.05277266e-02 -3.90853667e+01] [-6.61545034e-02 -5.46951574e-03 9.97794401e-01 -1.73479514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.147719421 meters 0.08916592823752177 Centerline is valid? [True, True] Translation: X:161.78, Y:-39.09, Z:-17.35 [[ 9.71307787e-01 -2.29332237e-01 6.29913402e-02 1.61776160e+02] [ 2.28481995e-01 9.73332651e-01 2.04823893e-02 -3.90897845e+01] [-6.60088003e-02 -5.50231712e-03 9.97803870e-01 -1.73514713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.177719421 meters 0.08971011463169744 Centerline is valid? [True, True] Translation: X:161.81, Y:-39.09, Z:-17.35 [[ 9.71143600e-01 -2.29969723e-01 6.31983787e-02 1.61805549e+02] [ 2.29114841e-01 9.73182341e-01 2.05553121e-02 -3.90872264e+01] [-6.62306456e-02 -5.48247328e-03 9.97789278e-01 -1.73545189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.207719421 meters 0.08269945527765539 Centerline is valid? [True, True] Translation: X:161.84, Y:-39.10, Z:-17.36 [[ 9.70512041e-01 -2.32433508e-01 6.38830332e-02 1.61841400e+02] [ 2.31563523e-01 9.72597312e-01 2.08039147e-02 -3.91002923e+01] [-6.69679933e-02 -5.39746950e-03 9.97740525e-01 -1.73554411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.237719421 meters 0.09051238083159645 Centerline is valid? [True, True] Translation: X:161.87, Y:-39.09, Z:-17.36 [[ 9.70014888e-01 -2.34398887e-01 6.42516856e-02 1.61866911e+02] [ 2.33523041e-01 9.72126096e-01 2.09247091e-02 -3.90867815e+01] [-6.73654688e-02 -5.29303032e-03 9.97714327e-01 -1.73639791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26771942099998 meters 0.07885936510689552 Centerline is valid? [True, True] Translation: X:161.91, Y:-39.11, Z:-17.36 [[ 9.68386750e-01 -2.40934889e-01 6.46334352e-02 1.61906459e+02] [ 2.40062790e-01 9.70529059e-01 2.10523595e-02 -3.91107510e+01] [-6.78008750e-02 -4.87074326e-03 9.97686984e-01 -1.73606798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29771942099998 meters 0.08182179515274075 Centerline is valid? [True, True] Translation: X:161.93, Y:-39.10, Z:-17.37 [[ 9.67226645e-01 -2.45334721e-01 6.54483933e-02 1.61934571e+02] [ 2.44450376e-01 9.69427418e-01 2.13188954e-02 -3.91041939e+01] [-6.86777322e-02 -4.62131928e-03 9.97628194e-01 -1.73669772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32771942099998 meters 0.07409055668177252 Centerline is valid? [True, True] Translation: X:161.97, Y:-39.11, Z:-17.37 [[ 9.65954365e-01 -2.50232424e-01 6.56955017e-02 1.61969327e+02] [ 2.49352479e-01 9.68176284e-01 2.14015035e-02 -3.91139168e+01] [-6.89601768e-02 -4.29153953e-03 9.97610183e-01 -1.73654608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35771942099998 meters 0.06931336961599162 Centerline is valid? [True, True] Translation: X:162.00, Y:-39.13, Z:-17.37 [[ 9.63321884e-01 -2.59616951e-01 6.78968781e-02 1.62002755e+02] [ 2.58699954e-01 9.65704416e-01 2.21204424e-02 -3.91250430e+01] [-7.13111568e-02 -3.74418701e-03 9.97447091e-01 -1.73681691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38771942099999 meters 0.06357938981878926 Centerline is valid? [True, True] Translation: X:162.04, Y:-39.14, Z:-17.37 [[ 9.60683403e-01 -2.68784282e-01 6.95874173e-02 1.62039074e+02] [ 2.67844585e-01 9.63195265e-01 2.26750824e-02 -3.91382345e+01] [-7.31209766e-02 -3.14496239e-03 9.97318120e-01 -1.73681710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.417719421 meters 0.061421152254451196 Centerline is valid? [True, True] Translation: X:162.07, Y:-39.14, Z:-17.37 [[ 9.59486189e-01 -2.73033024e-01 6.95645075e-02 1.62070955e+02] [ 2.72104799e-01 9.62000516e-01 2.26712437e-02 -3.91399449e+01] [-7.31110904e-02 -2.82390887e-03 9.97319805e-01 -1.73704087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.447719421 meters 0.05882479491126566 Centerline is valid? [True, True] Translation: X:162.10, Y:-39.15, Z:-17.37 [[ 9.56941076e-01 -2.81462730e-01 7.10106317e-02 1.62104252e+02] [ 2.80518184e-01 9.59569568e-01 2.31472023e-02 -3.91483683e+01] [-7.46547159e-02 -2.23073520e-03 9.97206948e-01 -1.73729576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.477719421 meters 0.05786864439137864 Centerline is valid? [True, True] Translation: X:162.13, Y:-39.15, Z:-17.38 [[ 9.55877678e-01 -2.85072220e-01 7.09344382e-02 1.62133782e+02] [ 2.84139477e-01 9.58504060e-01 2.31241224e-02 -3.91469781e+01] [-7.45829919e-02 -1.94855831e-03 9.97212906e-01 -1.73765174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.507719421 meters 0.056844158688009974 Centerline is valid? [True, True] Translation: X:162.16, Y:-39.15, Z:-17.38 [[ 9.54171094e-01 -2.91062612e-01 6.95706845e-02 1.62164330e+02] [ 2.90180937e-01 9.56702897e-01 2.26845741e-02 -3.91513076e+01] [-7.31611068e-02 -1.45687846e-03 9.97319071e-01 -1.73812661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.537719421 meters 0.05619219829365924 Centerline is valid? [True, True] Translation: X:162.19, Y:-39.15, Z:-17.38 [[ 9.53244731e-01 -2.93855572e-01 7.05222390e-02 1.62194036e+02] [ 2.92956947e-01 9.55848998e-01 2.29982518e-02 -3.91480543e+01] [-7.41667759e-02 -1.26298258e-03 9.97245052e-01 -1.73832641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.567719421 meters 0.05523128662617062 Centerline is valid? [True, True] Translation: X:162.23, Y:-39.15, Z:-17.39 [[ 9.51233560e-01 -2.99684305e-01 7.31028887e-02 1.62225169e+02] [ 2.98733878e-01 9.54038036e-01 2.38641066e-02 -3.91518825e+01] [-7.68946345e-02 -8.62029609e-04 9.97038852e-01 -1.73851287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.597719421 meters 0.054473940442371374 Centerline is valid? [True, True] Translation: X:162.26, Y:-39.15, Z:-17.38 [[ 9.50224927e-01 -3.02616237e-01 7.41350205e-02 1.62255937e+02] [ 3.01647647e-01 9.53112276e-01 2.42009483e-02 -3.91513025e+01] [-7.79825981e-02 -6.33689853e-04 9.96954519e-01 -1.73833008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.627719421 meters 0.054262236311545115 Centerline is valid? [True, True] Translation: X:162.29, Y:-39.16, Z:-17.39 [[ 9.47718977e-01 -3.10457977e-01 7.37874340e-02 1.62286094e+02] [ 3.09520188e-01 9.50587105e-01 2.41124114e-02 -3.91557896e+01] [-7.76272737e-02 -1.30893479e-05 9.96982450e-01 -1.73889039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.657719421 meters 0.05434833466049976 Centerline is valid? [True, True] Translation: X:162.32, Y:-39.15, Z:-17.39 [[ 9.46082569e-01 -3.15459361e-01 7.35742013e-02 1.62315960e+02] [ 3.14541763e-01 9.48939006e-01 2.40466562e-02 -3.91543576e+01] [-7.74031723e-02 3.92036687e-04 9.96999797e-01 -1.73932586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.687719421 meters 0.05522958940093975 Centerline is valid? [True, True] Translation: X:162.35, Y:-39.16, Z:-17.40 [[ 9.43256972e-01 -3.24149758e-01 7.20639862e-02 1.62348067e+02] [ 3.23292937e-01 9.46005187e-01 2.35767692e-02 -3.91580947e+01] [-7.58153088e-02 1.05882576e-03 9.97121316e-01 -1.73962030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.717719421 meters 0.05604727142958843 Centerline is valid? [True, True] Translation: X:162.38, Y:-39.15, Z:-17.40 [[ 9.41837852e-01 -3.28592475e-01 7.04872110e-02 1.62377971e+02] [ 3.27785123e-01 9.44470788e-01 2.30617394e-02 -3.91542892e+01] [-7.41510257e-02 1.38423998e-03 9.97246063e-01 -1.74015906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.747719421 meters 0.05707612384490199 Centerline is valid? [True, True] Translation: X:162.41, Y:-39.15, Z:-17.41 [[ 9.40428255e-01 -3.32966030e-01 6.87627770e-02 1.62408128e+02] [ 3.32208098e-01 9.42937345e-01 2.25154066e-02 -3.91546969e+01] [-7.23358559e-02 1.66942685e-03 9.97378933e-01 -1.74056124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.777719421 meters 0.05707612384490199 Centerline is valid? [True, True] Translation: X:162.43, Y:-39.15, Z:-17.41 [[ 9.40333655e-01 -3.33232947e-01 6.87635078e-02 1.62434225e+02] [ 3.32475890e-01 9.42843009e-01 2.25131788e-02 -3.91459401e+01] [-7.23353255e-02 1.69230872e-03 9.97378933e-01 -1.74083562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.807719421 meters 0.057465762831792465 Centerline is valid? [True, True] Translation: X:162.46, Y:-39.14, Z:-17.41 [[ 9.39741818e-01 -3.34885703e-01 6.88250082e-02 1.62462285e+02] [ 3.34129727e-01 9.42257047e-01 2.25606504e-02 -3.91405464e+01] [-7.24060883e-02 1.79529459e-03 9.97373619e-01 -1.74103630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.837719421 meters 0.05838778758487748 Centerline is valid? [True, True] Translation: X:162.49, Y:-39.13, Z:-17.41 [[ 9.38123949e-01 -3.38876813e-01 7.13159226e-02 1.62489377e+02] [ 3.38075997e-01 9.40828244e-01 2.33845131e-02 -3.91348690e+01] [-7.50205035e-02 2.17262979e-03 9.97179625e-01 -1.74124082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.867719421 meters 0.05906158293248712 Centerline is valid? [True, True] Translation: X:162.52, Y:-39.13, Z:-17.42 [[ 9.37212285e-01 -3.41114284e-01 7.26235409e-02 1.62516792e+02] [ 3.40290224e-01 9.40018790e-01 2.38167708e-02 -3.91262067e+01] [-7.63917338e-02 2.39171090e-03 9.97075014e-01 -1.74153609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.897719421 meters 0.05925616971527773 Centerline is valid? [True, True] Translation: X:162.54, Y:-39.12, Z:-17.42 [[ 9.36102779e-01 -3.44238272e-01 7.21914090e-02 1.62544462e+02] [ 3.43431429e-01 9.38878698e-01 2.36990237e-02 -3.91168293e+01] [-7.59370870e-02 2.60807680e-03 9.97109200e-01 -1.74164530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.927719421 meters 0.060516926731302656 Centerline is valid? [True, True] Translation: X:162.57, Y:-39.11, Z:-17.42 [[ 9.35517838e-01 -3.45972120e-01 7.14819350e-02 1.62571145e+02] [ 3.45185902e-01 9.38240854e-01 2.34689812e-02 -3.91109693e+01] [-7.51868849e-02 2.71890569e-03 9.97165753e-01 -1.74208005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.957719421 meters 0.06191202055139376 Centerline is valid? [True, True] Translation: X:162.60, Y:-39.10, Z:-17.42 [[ 9.33967993e-01 -3.50144927e-01 7.14305155e-02 1.62598729e+02] [ 3.49371245e-01 9.36690595e-01 2.34619495e-02 -3.91021143e+01] [-7.51233746e-02 3.04305829e-03 9.97169604e-01 -1.74225129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98771942099998 meters 0.06304316620921324 Centerline is valid? [True, True] Translation: X:162.63, Y:-39.09, Z:-17.42 [[ 9.32646563e-01 -3.53339746e-01 7.29480166e-02 1.62626272e+02] [ 3.52542513e-01 9.35488997e-01 2.39606528e-02 -3.90909727e+01] [-7.67083178e-02 3.37045660e-03 9.97047879e-01 -1.74241962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01771942099998 meters 0.0654796775826792 Centerline is valid? [True, True] Translation: X:162.65, Y:-39.08, Z:-17.43 [[ 9.32154760e-01 -3.54475547e-01 7.37196728e-02 1.62652842e+02] [ 3.53663247e-01 9.35058805e-01 2.42350820e-02 -3.90838966e+01] [-7.75229731e-02 3.48109174e-03 9.96984489e-01 -1.74283727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04771942099998 meters 0.0645354732642687 Centerline is valid? [True, True] Translation: X:162.68, Y:-39.07, Z:-17.43 [[ 9.31366403e-01 -3.56385301e-01 7.44724172e-02 1.62677006e+02] [ 3.55561895e-01 9.34331867e-01 2.44888056e-02 -3.90665756e+01] [-7.83094030e-02 3.67150303e-03 9.96922343e-01 -1.74297100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07771942099998 meters 0.06324935645899411 Centerline is valid? [True, True] Translation: X:162.70, Y:-39.05, Z:-17.43 [[ 9.30911089e-01 -3.57760345e-01 7.35668455e-02 1.62702632e+02] [ 3.56960547e-01 9.33805973e-01 2.41986150e-02 -3.90519037e+01] [-7.73544646e-02 3.73370235e-03 9.96996663e-01 -1.74306178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10771942099998 meters 0.06469648262831823 Centerline is valid? [True, True] Translation: X:162.73, Y:-39.04, Z:-17.44 [[ 9.30372163e-01 -3.59557689e-01 7.15954331e-02 1.62727664e+02] [ 3.58803739e-01 9.33115297e-01 2.35737033e-02 -3.90395331e+01] [-7.52829001e-02 3.75639175e-03 9.97155141e-01 -1.74359555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13771942099999 meters 0.06529638901533501 Centerline is valid? [True, True] Translation: X:162.75, Y:-39.03, Z:-17.44 [[ 9.30038492e-01 -3.60497117e-01 7.12055662e-02 1.62753590e+02] [ 3.59753614e-01 9.32752565e-01 2.34518564e-02 -3.90280787e+01] [-7.48715012e-02 3.80533061e-03 9.97185929e-01 -1.74396986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.167719421 meters 0.06768478238417844 Centerline is valid? [True, True] Translation: X:162.78, Y:-39.02, Z:-17.44 [[ 9.29465144e-01 -3.61273244e-01 7.46738802e-02 1.62779501e+02] [ 3.60457357e-01 9.32451200e-01 2.46019170e-02 -3.90182340e+01] [-7.85177635e-02 4.05012514e-03 9.96904488e-01 -1.74420292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.197719421 meters 0.06904471559639573 Centerline is valid? [True, True] Translation: X:162.80, Y:-39.00, Z:-17.45 [[ 9.28760724e-01 -3.62974909e-01 7.51846567e-02 1.62803482e+02] [ 3.62152768e-01 9.31789376e-01 2.47776169e-02 -3.90028278e+01] [-7.90499177e-02 4.21585415e-03 9.96861744e-01 -1.74457794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.227719421 meters 0.0697442191531221 Centerline is valid? [True, True] Translation: X:162.83, Y:-38.99, Z:-17.45 [[ 9.28474013e-01 -3.63805418e-01 7.47102810e-02 1.62829120e+02] [ 3.62996008e-01 9.31465247e-01 2.46250405e-02 -3.89898591e+01] [-7.85487535e-02 4.25582358e-03 9.96901189e-01 -1.74503443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.257719421 meters 0.07042917059398356 Centerline is valid? [True, True] Translation: X:162.86, Y:-38.98, Z:-17.45 [[ 9.28272410e-01 -3.64473184e-01 7.39569592e-02 1.62855376e+02] [ 3.63680682e-01 9.31204181e-01 2.43954063e-02 -3.89776474e+01] [-7.77605010e-02 4.25113472e-03 9.96963005e-01 -1.74534790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.287719421 meters 0.06418629476551693 Centerline is valid? [True, True] Translation: X:162.88, Y:-38.95, Z:-17.45 [[ 9.28051938e-01 -3.65157390e-01 7.33463075e-02 1.62877656e+02] [ 3.64378391e-01 9.30936086e-01 2.42155196e-02 -3.89528793e+01] [-7.71232004e-02 4.25254962e-03 9.97012501e-01 -1.74495073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.317719421 meters 0.06596758887581321 Centerline is valid? [True, True] Translation: X:162.90, Y:-38.94, Z:-17.45 [[ 9.27757813e-01 -3.66051175e-01 7.26083905e-02 1.62904250e+02] [ 3.65289948e-01 9.30584897e-01 2.39792151e-02 -3.89439725e+01] [-7.63458914e-02 4.27621105e-03 9.97072224e-01 -1.74530204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.347719421 meters 0.06730104512939813 Centerline is valid? [True, True] Translation: X:162.93, Y:-38.92, Z:-17.46 [[ 9.27310677e-01 -3.67394743e-01 7.15262959e-02 1.62927498e+02] [ 3.66659424e-01 9.30055104e-01 2.36298753e-02 -3.89245113e+01] [-7.52048885e-02 4.31355475e-03 9.97158773e-01 -1.74584223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.377719421 meters 0.06992295297898438 Centerline is valid? [True, True] Translation: X:162.95, Y:-38.91, Z:-17.47 [[ 9.27210128e-01 -3.67702332e-01 7.12486776e-02 1.62953836e+02] [ 3.66973506e-01 9.29933509e-01 2.35396417e-02 -3.89141015e+01] [-7.49121139e-02 4.32018285e-03 9.97180782e-01 -1.74651284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.407719421 meters 0.06504215617688026 Centerline is valid? [True, True] Translation: X:162.98, Y:-38.89, Z:-17.46 [[ 9.26907435e-01 -3.68531791e-01 7.09008138e-02 1.62975701e+02] [ 3.67811444e-01 9.29604955e-01 2.34386135e-02 -3.88886483e+01] [-7.45476221e-02 4.35270556e-03 9.97207955e-01 -1.74627001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.437719421 meters 0.07183648688386086 Centerline is valid? [True, True] Translation: X:163.01, Y:-38.89, Z:-17.47 [[ 9.26571872e-01 -3.69063224e-01 7.25044983e-02 1.63005113e+02] [ 3.68311200e-01 9.29393438e-01 2.39728573e-02 -3.88877267e+01] [-7.62327049e-02 4.49164347e-03 9.97079937e-01 -1.74660554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.467719421 meters 0.0744968517345161 Centerline is valid? [True, True] Translation: X:163.03, Y:-38.88, Z:-17.47 [[ 9.26518883e-01 -3.69410306e-01 7.14057728e-02 1.63031639e+02] [ 3.68679916e-01 9.29255850e-01 2.36365143e-02 -3.88789600e+01] [-7.50858041e-02 4.42619753e-03 9.97167253e-01 -1.74700342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.497719421 meters 0.07114410360185848 Centerline is valid? [True, True] Translation: X:163.05, Y:-38.85, Z:-17.47 [[ 9.26314638e-01 -3.69932470e-01 7.13523551e-02 1.63053195e+02] [ 3.69204476e-01 9.29047930e-01 2.36219919e-02 -3.88522650e+01] [-7.50282996e-02 4.46221199e-03 9.97171421e-01 -1.74704670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.527719421 meters 0.07159350437258082 Centerline is valid? [True, True] Translation: X:163.08, Y:-38.84, Z:-17.47 [[ 9.26402284e-01 -3.69705362e-01 7.13915480e-02 1.63078897e+02] [ 3.68974175e-01 9.29138507e-01 2.36578255e-02 -3.88371594e+01] [-7.50790613e-02 4.42497402e-03 9.97167766e-01 -1.74738648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.557719421 meters 0.07112379148359918 Centerline is valid? [True, True] Translation: X:163.10, Y:-38.82, Z:-17.47 [[ 9.26362876e-01 -3.69856899e-01 7.11174757e-02 1.63103495e+02] [ 3.69130160e-01 9.29078313e-01 2.35884036e-02 -3.88222499e+01] [-7.47980382e-02 4.40018375e-03 9.97188995e-01 -1.74747605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.587719421 meters 0.07279262503328826 Centerline is valid? [True, True] Translation: X:163.13, Y:-38.81, Z:-17.48 [[ 9.26006131e-01 -3.70800361e-01 7.08501039e-02 1.63128583e+02] [ 3.70079453e-01 9.28702034e-01 2.35314709e-02 -3.88102725e+01] [-7.45241135e-02 4.42988134e-03 9.97209373e-01 -1.74760978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.617719421 meters 0.0726293283595562 Centerline is valid? [True, True] Translation: X:163.15, Y:-38.79, Z:-17.48 [[ 9.24737102e-01 -3.74243439e-01 6.93046995e-02 1.63154574e+02] [ 3.73562958e-01 9.27319086e-01 2.30223491e-02 -3.87928410e+01] [-7.28835337e-02 4.60004815e-03 9.97329850e-01 -1.74760382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.647719421 meters 0.07448962803863853 Centerline is valid? [True, True] Translation: X:163.18, Y:-38.78, Z:-17.48 [[ 9.24039690e-01 -3.76187870e-01 6.80686218e-02 1.63181742e+02] [ 3.75535176e-01 9.26531748e-01 2.26329933e-02 -3.87827529e+01] [-7.15819967e-02 4.64837773e-03 9.97423887e-01 -1.74793571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.677719421 meters 0.07810545801057839 Centerline is valid? [True, True] Translation: X:163.21, Y:-38.77, Z:-17.48 [[ 9.23042083e-01 -3.78958772e-01 6.62084694e-02 1.63207023e+02] [ 3.78348128e-01 9.25401485e-01 2.20178297e-02 -3.87708355e+01] [-6.96132657e-02 4.72646707e-03 9.97562857e-01 -1.74842602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.707719421 meters 0.07877444153712518 Centerline is valid? [True, True] Translation: X:163.23, Y:-38.76, Z:-17.49 [[ 9.22657814e-01 -3.79757886e-01 6.69813803e-02 1.63233582e+02] [ 3.79134849e-01 9.25073247e-01 2.22767855e-02 -3.87585175e+01] [-7.04224679e-02 4.84112528e-03 9.97505509e-01 -1.74866215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73771942099998 meters 0.07740278511393749 Centerline is valid? [True, True] Translation: X:163.26, Y:-38.74, Z:-17.48 [[ 9.22828919e-01 -3.78925186e-01 6.93000005e-02 1.63259315e+02] [ 3.78254128e-01 9.25414223e-01 2.30722771e-02 -3.87419739e+01] [-7.28738730e-02 4.92124675e-03 9.97329023e-01 -1.74841605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76771942099998 meters 0.07508628312424963 Centerline is valid? [True, True] Translation: X:163.28, Y:-38.73, Z:-17.48 [[ 9.23630385e-01 -3.76946618e-01 6.94129536e-02 1.63284829e+02] [ 3.76265853e-01 9.26222815e-01 2.31366560e-02 -3.87274782e+01] [-7.30131456e-02 4.74800569e-03 9.97319676e-01 -1.74846116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79771942099998 meters 0.07502468978009 Centerline is valid? [True, True] Translation: X:163.31, Y:-38.71, Z:-17.49 [[ 9.26235577e-01 -3.71060112e-01 6.63479434e-02 1.63309245e+02] [ 3.70422721e-01 9.28599851e-01 2.21206925e-02 -3.87107512e+01] [-6.98187970e-02 4.08781334e-03 9.97551315e-01 -1.74909120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82771942099998 meters 0.07085927071307514 Centerline is valid? [True, True] Translation: X:163.33, Y:-38.69, Z:-17.50 [[ 9.29343427e-01 -3.63460466e-01 6.49406175e-02 1.63332101e+02] [ 3.62831033e-01 9.31603283e-01 2.16555972e-02 -3.86865110e+01] [-6.83698459e-02 3.43698442e-03 9.97654124e-01 -1.74972280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85771942099998 meters 0.06943258027273193 Centerline is valid? [True, True] Translation: X:163.36, Y:-38.67, Z:-17.50 [[ 9.30856427e-01 -3.59701305e-01 6.41972181e-02 1.63357395e+02] [ 3.59076680e-01 9.33062304e-01 2.14167048e-02 -3.86717213e+01] [-6.76036209e-02 3.11584666e-03 9.97707393e-01 -1.75013595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88771942099999 meters 0.06469557192865469 Centerline is valid? [True, True] Translation: X:163.38, Y:-38.65, Z:-17.50 [[ 9.33913727e-01 -3.51603868e-01 6.46519197e-02 1.63381510e+02] [ 3.50950894e-01 9.36145415e-01 2.15692333e-02 -3.86500934e+01] [-6.81074240e-02 2.54584590e-03 9.97674745e-01 -1.75023649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.917719421 meters 0.06315007511473027 Centerline is valid? [True, True] Translation: X:163.41, Y:-38.64, Z:-17.50 [[ 9.35285908e-01 -3.47871252e-01 6.50066256e-02 1.63407096e+02] [ 3.47200684e-01 9.37539573e-01 2.17079116e-02 -3.86357516e+01] [-6.84978424e-02 2.26724110e-03 9.97648688e-01 -1.75047540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.947719421 meters 0.059155535307034705 Centerline is valid? [True, True] Translation: X:163.43, Y:-38.61, Z:-17.51 [[ 9.38747888e-01 -3.38779039e-01 6.30964739e-02 1.63430050e+02] [ 3.38126448e-01 9.40864686e-01 2.10747981e-02 -3.86147970e+01] [-6.65049440e-02 1.55066442e-03 9.97784891e-01 -1.75070100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.977719421 meters 0.059271140768533646 Centerline is valid? [True, True] Translation: X:163.46, Y:-38.60, Z:-17.52 [[ 9.40723847e-01 -3.33422504e-01 6.21938725e-02 1.63456120e+02] [ 3.32776896e-01 9.42776800e-01 2.07711894e-02 -3.86036117e+01] [-6.55605221e-02 1.15673059e-03 9.97847924e-01 -1.75160436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.007719421 meters 0.056202031075553834 Centerline is valid? [True, True] Translation: X:163.48, Y:-38.58, Z:-17.52 [[ 9.44427080e-01 -3.22367019e-01 6.43194859e-02 1.63480669e+02] [ 3.21649470e-01 9.46614683e-01 2.15002358e-02 -3.85825200e+01] [-6.78167367e-02 3.82923617e-04 9.97697722e-01 -1.75168844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.037719421 meters 0.05518479338262106 Centerline is valid? [True, True] Translation: X:163.51, Y:-38.57, Z:-17.51 [[ 9.46006476e-01 -3.17614059e-01 6.47538155e-02 1.63506693e+02] [ 3.16874526e-01 9.48220074e-01 2.16616221e-02 -3.85687510e+01] [-6.82809035e-02 2.67997981e-05 9.97666135e-01 -1.75141367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.067719421 meters 0.055260131303411585 Centerline is valid? [True, True] Translation: X:163.53, Y:-38.56, Z:-17.52 [[ 9.48742810e-01 -3.08501270e-01 6.86589161e-02 1.63532594e+02] [ 3.07643653e-01 9.51223676e-01 2.29978547e-02 -3.85585484e+01] [-7.24048540e-02 -6.96569495e-04 9.97375081e-01 -1.75171612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.097719421 meters 0.05519330689371492 Centerline is valid? [True, True] Translation: X:163.56, Y:-38.55, Z:-17.52 [[ 9.49798518e-01 -3.05174225e-01 6.89308856e-02 1.63560393e+02] [ 3.04300830e-01 9.52296055e-01 2.30917262e-02 -3.85514356e+01] [-7.26896101e-02 -9.56761660e-04 9.97354152e-01 -1.75186638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.127719421 meters 0.0566168006786134 Centerline is valid? [True, True] Translation: X:163.59, Y:-38.54, Z:-17.52 [[ 9.51785071e-01 -2.98261900e-01 7.17287850e-02 1.63586898e+02] [ 2.97294388e-01 9.54482776e-01 2.40557009e-02 -3.85437482e+01] [-7.56387889e-02 -1.57129172e-03 9.97134045e-01 -1.75232688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.157719421 meters 0.05708130297614746 Centerline is valid? [True, True] Translation: X:163.62, Y:-38.54, Z:-17.53 [[ 9.52784630e-01 -2.95163003e-01 7.12758736e-02 1.63616591e+02] [ 2.94198786e-01 9.55445200e-01 2.39070015e-02 -3.85414654e+01] [-7.51566537e-02 -1.80894806e-03 9.97170098e-01 -1.75270261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.187719421 meters 0.05714070219651446 Centerline is valid? [True, True] Translation: X:163.64, Y:-38.54, Z:-17.53 [[ 9.52703109e-01 -2.95411559e-01 7.13357977e-02 1.63644808e+02] [ 2.94444927e-01 9.55368377e-01 2.39467943e-02 -3.85384735e+01] [-7.52261251e-02 -1.80972163e-03 9.97164858e-01 -1.75296187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.217719421 meters 0.057322705876273576 Centerline is valid? [True, True] Translation: X:163.68, Y:-38.54, Z:-17.53 [[ 9.52893788e-01 -2.94625537e-01 7.20362488e-02 1.63675546e+02] [ 2.93635306e-01 9.55610858e-01 2.42114723e-02 -3.85422780e+01] [-7.59719396e-02 -1.91857562e-03 9.97108110e-01 -1.75318527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.247719421 meters 0.0585634651321345 Centerline is valid? [True, True] Translation: X:163.70, Y:-38.54, Z:-17.54 [[ 9.53029972e-01 -2.94226593e-01 7.18650432e-02 1.63702707e+02] [ 2.93239373e-01 9.55733696e-01 2.41613750e-02 -3.85367355e+01] [-7.57927624e-02 -1.95285435e-03 9.97121679e-01 -1.75382385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.277719421 meters 0.059545306027916495 Centerline is valid? [True, True] Translation: X:163.73, Y:-38.54, Z:-17.54 [[ 9.53760115e-01 -2.92198174e-01 7.04405482e-02 1.63733858e+02] [ 2.91243637e-01 9.56355531e-01 2.36905435e-02 -3.85392960e+01] [-7.42885414e-02 -2.07973403e-03 9.97234620e-01 -1.75435450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.307719421 meters 0.058929417203790094 Centerline is valid? [True, True] Translation: X:163.76, Y:-38.54, Z:-17.54 [[ 9.54189301e-01 -2.91044522e-01 6.93964226e-02 1.63763795e+02] [ 2.90115200e-01 9.56707126e-01 2.33376423e-02 -3.85378869e+01] [-7.31843450e-02 -2.13557157e-03 9.97316144e-01 -1.75445138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.337719421 meters 0.06064089363707601 Centerline is valid? [True, True] Translation: X:163.79, Y:-38.54, Z:-17.55 [[ 9.55026605e-01 -2.87615856e-01 7.21200558e-02 1.63793342e+02] [ 2.86600295e-01 9.57742544e-01 2.42794391e-02 -3.85378277e+01] [-7.60555974e-02 -2.51788107e-03 9.97100399e-01 -1.75478808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.367719421 meters 0.06139581853189575 Centerline is valid? [True, True] Translation: X:163.82, Y:-38.53, Z:-17.55 [[ 9.55506107e-01 -2.85892084e-01 7.26209035e-02 1.63822122e+02] [ 2.84857101e-01 9.58258081e-01 2.44516287e-02 -3.85340281e+01] [-7.65800947e-02 -2.67710048e-03 9.97059839e-01 -1.75507072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.397719421 meters 0.06387173007203963 Centerline is valid? [True, True] Translation: X:163.85, Y:-38.54, Z:-17.55 [[ 9.56723951e-01 -2.81465835e-01 7.38665421e-02 1.63852065e+02] [ 2.80379825e-01 9.59566216e-01 2.48964132e-02 -3.85351066e+01] [-7.78873280e-02 -3.10830664e-03 9.96957322e-01 -1.75535418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.427719421 meters 0.06524434624898269 Centerline is valid? [True, True] Translation: X:163.88, Y:-38.53, Z:-17.56 [[ 9.57572401e-01 -2.78522210e-01 7.40302297e-02 1.63881679e+02] [ 2.77422140e-01 9.60423908e-01 2.49574316e-02 -3.85308666e+01] [-7.80516015e-02 -3.36092291e-03 9.96943655e-01 -1.75554932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.457719421 meters 0.0664440216663527 Centerline is valid? [True, True] Translation: X:163.91, Y:-38.53, Z:-17.56 [[ 9.58318789e-01 -2.75266456e-01 7.65080246e-02 1.63914104e+02] [ 2.74080413e-01 9.61360637e-01 2.58002533e-02 -3.85334049e+01] [-8.06537476e-02 -3.75551656e-03 9.96735105e-01 -1.75566102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48771942099998 meters 0.06723065831335506 Centerline is valid? [True, True] Translation: X:163.95, Y:-38.54, Z:-17.56 [[ 9.58141096e-01 -2.75267026e-01 7.87000947e-02 1.63945178e+02] [ 2.74011707e-01 9.61360036e-01 2.65417809e-02 -3.85392624e+01] [-8.29652029e-02 -3.86602381e-03 9.96544946e-01 -1.75583563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51771942099998 meters 0.06733608328678287 Centerline is valid? [True, True] Translation: X:163.97, Y:-38.54, Z:-17.56 [[ 9.57463814e-01 -2.77455294e-01 7.92565705e-02 1.63974644e+02] [ 2.76188900e-01 9.60731384e-01 2.67376071e-02 -3.85382055e+01] [-8.35627653e-02 -3.71050624e-03 9.96495608e-01 -1.75624476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54771942099998 meters 0.06349686912809649 Centerline is valid? [True, True] Translation: X:164.01, Y:-38.55, Z:-17.56 [[ 9.56476003e-01 -2.80600603e-01 8.01059087e-02 1.64008476e+02] [ 2.79317291e-01 9.59818315e-01 2.70306075e-02 -3.85457439e+01] [-8.44719230e-02 -3.47916199e-03 9.96419786e-01 -1.75623110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57771942099998 meters 0.06127090563815228 Centerline is valid? [True, True] Translation: X:164.04, Y:-38.56, Z:-17.56 [[ 9.54609953e-01 -2.86404036e-01 8.18081059e-02 1.64043779e+02] [ 2.85086300e-01 9.58104130e-01 2.76093706e-02 -3.85613132e+01] [-8.62881193e-02 -3.03380972e-03 9.96265605e-01 -1.75628959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60771942099998 meters 0.058240490289199885 Centerline is valid? [True, True] Translation: X:164.08, Y:-38.58, Z:-17.57 [[ 9.52350585e-01 -2.93905646e-01 8.15342471e-02 1.64079459e+02] [ 2.92623678e-01 9.55831545e-01 2.75216440e-02 -3.85769858e+01] [-8.60217720e-02 -2.35140246e-03 9.96290483e-01 -1.75676553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63771942099999 meters 0.05674740491138656 Centerline is valid? [True, True] Translation: X:164.11, Y:-38.58, Z:-17.57 [[ 9.51131966e-01 -2.97991880e-01 8.09248026e-02 1.64110885e+02] [ 2.96743383e-01 9.54566369e-01 2.73205437e-02 -3.85805900e+01] [-8.53893952e-02 -1.97154274e-03 9.96345705e-01 -1.75714295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.667719421 meters 0.0564743058662132 Centerline is valid? [True, True] Translation: X:164.14, Y:-38.58, Z:-17.58 [[ 9.50214356e-01 -3.00866869e-01 8.10666657e-02 1.64142238e+02] [ 2.99624045e-01 9.53664599e-01 2.73726832e-02 -3.85819532e+01] [-8.55459428e-02 -1.72039424e-03 9.96332742e-01 -1.75755724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.697719421 meters 0.0564743058662132 Centerline is valid? [True, True] Translation: X:164.17, Y:-38.57, Z:-17.58 [[ 9.50126927e-01 -3.01144536e-01 8.10604169e-02 1.64168252e+02] [ 2.99901144e-01 9.53576965e-01 2.73911750e-02 -3.85729566e+01] [-8.55460489e-02 -1.71498115e-03 9.96332742e-01 -1.75783053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.727719421 meters 0.05543751020956263 Centerline is valid? [True, True] Translation: X:164.20, Y:-38.59, Z:-17.58 [[ 9.47653534e-01 -3.09012943e-01 8.03976411e-02 1.64203554e+02] [ 3.07815529e-01 9.51057280e-01 2.71965169e-02 -3.85897684e+01] [-8.48668376e-02 -1.02523296e-03 9.96391775e-01 -1.75825860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.757719421 meters 0.054594323245924836 Centerline is valid? [True, True] Translation: X:164.24, Y:-38.61, Z:-17.59 [[ 9.44926781e-01 -3.17176146e-01 8.07011254e-02 1.64238825e+02] [ 3.15998842e-01 9.48366597e-01 2.73043801e-02 -3.86073928e+01] [-8.51945498e-02 -2.99177860e-04 9.96364290e-01 -1.75854058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.787719421 meters 0.05433995033821097 Centerline is valid? [True, True] Translation: X:164.27, Y:-38.61, Z:-17.59 [[ 9.43026080e-01 -3.22414652e-01 8.21620615e-02 1.64270894e+02] [ 3.21213162e-01 9.46598523e-01 2.78089926e-02 -3.86109751e+01] [-8.67405128e-02 1.66930272e-04 9.96230925e-01 -1.75864157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.817719421 meters 0.054795121447040865 Centerline is valid? [True, True] Translation: X:164.31, Y:-38.62, Z:-17.59 [[ 9.40174718e-01 -3.29994271e-01 8.47070265e-02 1.64305362e+02] [ 3.28745415e-01 9.43982535e-01 2.86953801e-02 -3.86247825e+01] [-8.94312646e-02 8.68375633e-04 9.95992618e-01 -1.75883897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.847719421 meters 0.055190444761901436 Centerline is valid? [True, True] Translation: X:164.34, Y:-38.63, Z:-17.59 [[ 9.39094340e-01 -3.32956508e-01 8.50986764e-02 1.64335335e+02] [ 3.31707449e-01 9.42941486e-01 2.88361364e-02 -3.86271793e+01] [-8.98442516e-02 1.14801243e-03 9.95955166e-01 -1.75920442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.877719421 meters 0.054219528490792604 Centerline is valid? [True, True] Translation: X:164.36, Y:-38.62, Z:-17.59 [[ 9.40779615e-01 -3.28249831e-01 8.47688944e-02 1.64363874e+02] [ 3.26990793e-01 9.44590691e-01 2.87306155e-02 -3.86203155e+01] [-8.95027282e-02 6.89470623e-04 9.95986338e-01 -1.75899627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.907719421 meters 0.05387349068698291 Centerline is valid? [True, True] Translation: X:164.39, Y:-38.61, Z:-17.59 [[ 9.41492545e-01 -3.26258157e-01 8.45423088e-02 1.64390377e+02] [ 3.24995676e-01 9.45280587e-01 2.86778981e-02 -3.86109840e+01] [-8.92726015e-02 4.75857547e-04 9.96007117e-01 -1.75906404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.937719421 meters 0.05418171010713013 Centerline is valid? [True, True] Translation: X:164.42, Y:-38.60, Z:-17.59 [[ 9.39746680e-01 -3.31085354e-01 8.51978008e-02 1.64418331e+02] [ 3.29821920e-01 9.43600351e-01 2.89115612e-02 -3.86048682e+01] [-8.99648692e-02 9.30558597e-04 9.95944505e-01 -1.75945767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.967719421 meters 0.05491890882344599 Centerline is valid? [True, True] Translation: X:164.44, Y:-38.60, Z:-17.60 [[ 9.38820920e-01 -3.33771079e-01 8.49243585e-02 1.64444856e+02] [ 3.32524523e-01 9.42653446e-01 2.88430690e-02 -3.85976355e+01] [-8.96812214e-02 1.16095526e-03 9.95969844e-01 -1.76005424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.997719421 meters 0.056270968932092935 Centerline is valid? [True, True] Translation: X:164.47, Y:-38.59, Z:-17.61 [[ 9.37688527e-01 -3.37630128e-01 8.21347883e-02 1.64472030e+02] [ 3.36478508e-01 9.41277708e-01 2.79014159e-02 -3.85881479e+01] [-8.67320040e-02 1.47375348e-03 9.96230590e-01 -1.76078473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.027719421 meters 0.057448038845272886 Centerline is valid? [True, True] Translation: X:164.50, Y:-38.58, Z:-17.61 [[ 9.36102172e-01 -3.42149270e-01 8.15266918e-02 1.64500589e+02] [ 3.41029869e-01 9.39643776e-01 2.77164511e-02 -3.85820749e+01] [-8.60892121e-02 1.85760700e-03 9.96285700e-01 -1.76117169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.057719421 meters 0.061086378437972925 Centerline is valid? [True, True] Translation: X:164.53, Y:-38.58, Z:-17.61 [[ 9.32179782e-01 -3.52583895e-01 8.20088531e-02 1.64532101e+02] [ 3.51491072e-01 9.35775918e-01 2.78829279e-02 -3.85839293e+01] [-8.65729811e-02 2.83347811e-03 9.96241482e-01 -1.76133969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.087719421 meters 0.06245003706972601 Centerline is valid? [True, True] Translation: X:164.56, Y:-38.58, Z:-17.61 [[ 9.30598439e-01 -3.56591936e-01 8.26361747e-02 1.64561452e+02] [ 3.55496069e-01 9.34254724e-01 2.81186052e-02 -3.85791264e+01] [-8.72301044e-02 3.20970512e-03 9.96183019e-01 -1.76144321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.117719421 meters 0.06544199907737738 Centerline is valid? [True, True] Translation: X:164.59, Y:-38.58, Z:-17.61 [[ 9.28084530e-01 -3.62945180e-01 8.32460339e-02 1.64591919e+02] [ 3.61858218e-01 9.31802615e-01 2.83287235e-02 -3.85773457e+01] [-8.78506457e-02 3.83181148e-03 9.96126288e-01 -1.76142598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.147719421 meters 0.06572512945757127 Centerline is valid? [True, True] Translation: X:164.62, Y:-38.57, Z:-17.62 [[ 9.27213280e-01 -3.65583721e-01 8.13884327e-02 1.64618837e+02] [ 3.64553160e-01 9.30769990e-01 2.77167767e-02 -3.85668290e+01] [-8.58867131e-02 3.97104688e-03 9.96296996e-01 -1.76191115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.177719421 meters 0.06611922364501151 Centerline is valid? [True, True] Translation: X:164.65, Y:-38.56, Z:-17.62 [[ 9.27237225e-01 -3.65880956e-01 7.97637398e-02 1.64645490e+02] [ 3.64891119e-01 9.30653466e-01 2.71771453e-02 -3.85575880e+01] [-8.41760008e-02 3.90541954e-03 9.96443249e-01 -1.76245201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.207719421 meters 0.06558837571853297 Centerline is valid? [True, True] Translation: X:164.67, Y:-38.55, Z:-17.63 [[ 9.28465205e-01 -3.63267721e-01 7.73881514e-02 1.64670382e+02] [ 3.62325154e-01 9.31678082e-01 2.63900285e-02 -3.85451826e+01] [-8.16874900e-02 3.53745062e-03 9.96651715e-01 -1.76307591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23771942099998 meters 0.06493794231364838 Centerline is valid? [True, True] Translation: X:164.70, Y:-38.53, Z:-17.63 [[ 9.29094346e-01 -3.61622402e-01 7.75431134e-02 1.64697419e+02] [ 3.60669945e-01 9.32318461e-01 2.64476619e-02 -3.85344358e+01] [-8.18589431e-02 3.39509727e-03 9.96638142e-01 -1.76347104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26771942099998 meters 0.06403492463815053 Centerline is valid? [True, True] Translation: X:164.72, Y:-38.52, Z:-17.64 [[ 9.29910381e-01 -3.59350047e-01 7.83213048e-02 1.64724700e+02] [ 3.58368640e-01 9.33197326e-01 2.67332680e-02 -3.85242904e+01] [-8.26958334e-02 3.20835611e-03 9.96569669e-01 -1.76368974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29771942099998 meters 0.06147181449732177 Centerline is valid? [True, True] Translation: X:164.75, Y:-38.51, Z:-17.64 [[ 9.32163764e-01 -3.53606182e-01 7.76748667e-02 1.64751148e+02] [ 3.52619889e-01 9.35390601e-01 2.65261591e-02 -3.85129863e+01] [-8.20361541e-02 2.66297855e-03 9.96625796e-01 -1.76384959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32771942099998 meters 0.05839225668543327 Centerline is valid? [True, True] Translation: X:164.77, Y:-38.49, Z:-17.64 [[ 9.36400831e-01 -3.42718296e-01 7.54827970e-02 1.64774010e+02] [ 3.41751087e-01 9.39436766e-01 2.57829041e-02 -3.84921112e+01] [-7.97475876e-02 1.65319506e-03 9.96813718e-01 -1.76428987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35771942099998 meters 0.05696146745107371 Centerline is valid? [True, True] Translation: X:164.80, Y:-38.48, Z:-17.64 [[ 9.38163642e-01 -3.37982099e-01 7.49471893e-02 1.64798859e+02] [ 3.37012855e-01 9.41151730e-01 2.56077673e-02 -3.84752050e+01] [-7.91916438e-02 1.23388998e-03 9.96858646e-01 -1.76449891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38771942099999 meters 0.05607303007237898 Centerline is valid? [True, True] Translation: X:164.82, Y:-38.45, Z:-17.65 [[ 9.42488444e-01 -3.25850029e-01 7.44129752e-02 1.64820413e+02] [ 3.24856213e-01 9.45421449e-01 2.54307736e-02 -3.84523380e+01] [-7.86382412e-02 2.05307095e-04 9.96903197e-01 -1.76530331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.417719421 meters 0.05611800119920357 Centerline is valid? [True, True] Translation: X:164.85, Y:-38.43, Z:-17.66 [[ 9.44389631e-01 -3.20413666e-01 7.39141924e-02 1.64845016e+02] [ 3.19416341e-01 9.47277689e-01 2.52622244e-02 -3.84349501e+01] [-7.81116273e-02 -2.47981917e-04 9.96944588e-01 -1.76557345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.447719421 meters 0.05688280374639202 Centerline is valid? [True, True] Translation: X:164.87, Y:-38.42, Z:-17.66 [[ 9.45828978e-01 -3.15936158e-01 7.47789332e-02 1.64868537e+02] [ 3.14899599e-01 9.48780231e-01 2.55796016e-02 -3.84197895e+01] [-7.90302946e-02 -6.46072359e-04 9.96872005e-01 -1.76594210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.477719421 meters 0.05657903153958896 Centerline is valid? [True, True] Translation: X:164.90, Y:-38.41, Z:-17.66 [[ 9.45317591e-01 -3.17486342e-01 7.46798139e-02 1.64896334e+02] [ 3.16456997e-01 9.48262702e-01 2.55502909e-02 -3.84127055e+01] [-7.89279505e-02 -5.20189840e-04 9.96880187e-01 -1.76603088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.507719421 meters 0.05676570693468607 Centerline is valid? [True, True] Translation: X:164.92, Y:-38.41, Z:-17.67 [[ 9.45094074e-01 -3.18491230e-01 7.32156312e-02 1.64923849e+02] [ 3.17503306e-01 9.47925702e-01 2.50701954e-02 -3.84058095e+01] [-7.73876160e-02 -4.47488132e-04 9.97000981e-01 -1.76654813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.537719421 meters 0.05658484746332828 Centerline is valid? [True, True] Translation: X:164.95, Y:-38.40, Z:-17.67 [[ 9.44814899e-01 -3.19220563e-01 7.36412790e-02 1.64951665e+02] [ 3.18221912e-01 9.47680361e-01 2.52338663e-02 -3.83972388e+01] [-7.78435629e-02 -4.07064253e-04 9.96965503e-01 -1.76658573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.567719421 meters 0.0572221481945858 Centerline is valid? [True, True] Translation: X:164.98, Y:-38.39, Z:-17.67 [[ 9.44675462e-01 -3.19500005e-01 7.42160276e-02 1.64976551e+02] [ 3.18484769e-01 9.47586186e-01 2.54533344e-02 -3.83868194e+01] [-7.84584230e-02 -4.08466033e-04 9.96917303e-01 -1.76742151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.597719421 meters 0.057343662847196816 Centerline is valid? [True, True] Translation: X:165.00, Y:-38.38, Z:-17.68 [[ 9.44259551e-01 -3.21124320e-01 7.24780743e-02 1.65003940e+02] [ 3.20160416e-01 9.47037009e-01 2.48638523e-02 -3.83812346e+01] [-7.66238064e-02 -2.73319621e-04 9.97060037e-01 -1.76792721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.627719421 meters 0.05695953588826156 Centerline is valid? [True, True] Translation: X:165.03, Y:-38.37, Z:-17.67 [[ 9.43848979e-01 -3.22224659e-01 7.29409014e-02 1.65033042e+02] [ 3.21251485e-01 9.46663211e-01 2.50249729e-02 -3.83745815e+01] [-7.71141312e-02 -1.87422275e-04 9.97022254e-01 -1.76745384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.657719421 meters 0.0569345514116001 Centerline is valid? [True, True] Translation: X:165.06, Y:-38.37, Z:-17.68 [[ 9.43279219e-01 -3.23928678e-01 7.27634953e-02 1.65060230e+02] [ 3.22963898e-01 9.46081501e-01 2.49822592e-02 -3.83676279e+01] [-7.69326671e-02 -6.52638469e-05 9.97036288e-01 -1.76763567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.687719421 meters 0.05694129541874497 Centerline is valid? [True, True] Translation: X:165.09, Y:-38.36, Z:-17.68 [[ 9.42432694e-01 -3.26356899e-01 7.28820418e-02 1.65087730e+02] [ 3.25394538e-01 9.45246614e-01 2.50446179e-02 -3.83613205e+01] [-7.70649871e-02 1.12551619e-04 9.97026065e-01 -1.76776590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.717719421 meters 0.05754403566963807 Centerline is valid? [True, True] Translation: X:165.11, Y:-38.35, Z:-17.68 [[ 9.42294939e-01 -3.27271503e-01 7.05238332e-02 1.65112665e+02] [ 3.26371293e-01 9.44930335e-01 2.42578062e-02 -3.83516147e+01] [-7.45789981e-02 1.58946584e-04 9.97215096e-01 -1.76849325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.747719421 meters 0.05785335912953702 Centerline is valid? [True, True] Translation: X:165.14, Y:-38.34, Z:-17.69 [[ 9.42344336e-01 -3.27188785e-01 7.02470741e-02 1.65138850e+02] [ 3.26294790e-01 9.44958982e-01 2.41708944e-02 -3.83411708e+01] [-7.42890493e-02 1.43948852e-04 9.97236740e-01 -1.76887832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.777719421 meters 0.05793993214711024 Centerline is valid? [True, True] Translation: X:165.17, Y:-38.33, Z:-17.69 [[ 9.42235908e-01 -3.27817739e-01 6.87533510e-02 1.65165568e+02] [ 3.26961558e-01 9.44740970e-01 2.36778088e-02 -3.83317451e+01] [-7.27161133e-02 1.69621088e-04 9.97352665e-01 -1.76927513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.807719421 meters 0.05844769872123175 Centerline is valid? [True, True] Translation: X:165.19, Y:-38.32, Z:-17.70 [[ 9.42265246e-01 -3.28371065e-01 6.56403137e-02 1.65193477e+02] [ 3.27590926e-01 9.44548786e-01 2.26224746e-02 -3.83219771e+01] [-6.94290447e-02 1.86799500e-04 9.97586875e-01 -1.76982851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.837719421 meters 0.05888029804907317 Centerline is valid? [True, True] Translation: X:165.22, Y:-38.31, Z:-17.70 [[ 9.41818999e-01 -3.29726964e-01 6.52464747e-02 1.65219790e+02] [ 3.28958113e-01 9.44076299e-01 2.25055919e-02 -3.83134786e+01] [-6.90183508e-02 2.67163185e-04 9.97615355e-01 -1.77048948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.867719421 meters 0.059164519581976625 Centerline is valid? [True, True] Translation: X:165.25, Y:-38.31, Z:-17.71 [[ 9.40871214e-01 -3.32541413e-01 6.46340983e-02 1.65248029e+02] [ 3.31793492e-01 9.43088538e-01 2.22954953e-02 -3.83058461e+01] [-6.83698528e-02 4.67983480e-04 9.97659934e-01 -1.77067101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.897719421 meters 0.059351990069494626 Centerline is valid? [True, True] Translation: X:165.28, Y:-38.30, Z:-17.71 [[ 9.39638871e-01 -3.35946193e-01 6.49534339e-02 1.65276687e+02] [ 3.35197832e-01 9.41880916e-01 2.24221492e-02 -3.82987748e+01] [-6.87110355e-02 7.03527238e-04 9.97636356e-01 -1.77068957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.927719421 meters 0.060951894114597234 Centerline is valid? [True, True] Translation: X:165.31, Y:-38.30, Z:-17.71 [[ 9.37790333e-01 -3.41237605e-01 6.40795432e-02 1.65305727e+02] [ 3.40520139e-01 9.39976479e-01 2.21416720e-02 -3.82985284e+01] [-6.77888346e-02 1.05612900e-03 9.97699132e-01 -1.77142924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.957719421 meters 0.06052222350573577 Centerline is valid? [True, True] Translation: X:165.33, Y:-38.29, Z:-17.71 [[ 9.36269567e-01 -3.45177520e-01 6.52056606e-02 1.65333610e+02] [ 3.44443957e-01 9.38536426e-01 2.25330464e-02 -3.82899963e+01] [-6.89757888e-02 1.36269014e-03 9.97617403e-01 -1.77098352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98771942099998 meters 0.0608110837221798 Centerline is valid? [True, True] Translation: X:165.36, Y:-38.28, Z:-17.71 [[ 9.35625105e-01 -3.46974629e-01 6.49174115e-02 1.65360745e+02] [ 3.46250690e-01 9.37873359e-01 2.24504152e-02 -3.82811264e+01] [-6.86740353e-02 1.47252649e-03 9.97638065e-01 -1.77128500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01771942099998 meters 0.060925559950985864 Centerline is valid? [True, True] Translation: X:165.39, Y:-38.27, Z:-17.72 [[ 9.35383105e-01 -3.47400050e-01 6.61184666e-02 1.65386716e+02] [ 3.46648528e-01 9.37715801e-01 2.28883129e-02 -3.82714255e+01] [-6.99517319e-02 1.51052791e-03 9.97549234e-01 -1.77156133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04771942099998 meters 0.06122098287125031 Centerline is valid? [True, True] Translation: X:165.41, Y:-38.26, Z:-17.72 [[ 9.34188978e-01 -3.50232751e-01 6.80292140e-02 1.65412698e+02] [ 3.49444507e-01 9.36661029e-01 2.35510889e-02 -3.82610564e+01] [-7.19686762e-02 1.77126750e-03 9.97405320e-01 -1.77181331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07771942099998 meters 0.062279311056464635 Centerline is valid? [True, True] Translation: X:165.44, Y:-38.25, Z:-17.72 [[ 9.32690326e-01 -3.54132198e-01 6.84042516e-02 1.65440195e+02] [ 3.53343835e-01 9.35193106e-01 2.37063239e-02 -3.82541435e+01] [-7.23663571e-02 2.05956158e-03 9.97375992e-01 -1.77214810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10771942099998 meters 0.06341778956040293 Centerline is valid? [True, True] Translation: X:165.47, Y:-38.25, Z:-17.73 [[ 9.31330672e-01 -3.57665171e-01 6.85478309e-02 1.65468589e+02] [ 3.56882463e-01 9.33846984e-01 2.37637984e-02 -3.82481690e+01] [-7.25126682e-02 2.33156447e-03 9.97364766e-01 -1.77252453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13771942099999 meters 0.06601803562520457 Centerline is valid? [True, True] Translation: X:165.50, Y:-38.24, Z:-17.73 [[ 9.29058633e-01 -3.63542609e-01 6.84604113e-02 1.65496910e+02] [ 3.62777726e-01 9.31573407e-01 2.37341377e-02 -3.82432877e+01] [-7.24042689e-02 2.78550678e-03 9.97371477e-01 -1.77295763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.167719421 meters 0.06811104759432667 Centerline is valid? [True, True] Translation: X:165.53, Y:-38.24, Z:-17.73 [[ 9.26826100e-01 -3.69076746e-01 6.91067048e-02 1.65525669e+02] [ 3.68311383e-01 9.29393302e-01 2.39752952e-02 -3.82383604e+01] [-7.30760325e-02 3.23185669e-03 9.97321136e-01 -1.77338597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.197719421 meters 0.0761440758110213 Centerline is valid? [True, True] Translation: X:165.56, Y:-38.25, Z:-17.74 [[ 9.21194495e-01 -3.82883340e-01 6.92896197e-02 1.65558199e+02] [ 3.82151083e-01 9.23786620e-01 2.40588977e-02 -3.82478406e+01] [-7.32205747e-02 4.31617914e-03 9.97306431e-01 -1.77392551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.227719421 meters 0.07953215613430031 Centerline is valid? [True, True] Translation: X:165.59, Y:-38.25, Z:-17.74 [[ 9.18105984e-01 -3.90506549e-01 6.77202823e-02 1.65588206e+02] [ 3.89827041e-01 9.20587620e-01 2.35225675e-02 -3.82470360e+01] [-7.15281702e-02 4.80298727e-03 9.97427016e-01 -1.77437665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.257719421 meters 0.08791415512398633 Centerline is valid? [True, True] Translation: X:165.62, Y:-38.26, Z:-17.75 [[ 9.13715387e-01 -4.00816844e-01 6.68584302e-02 1.65621959e+02] [ 4.00181383e-01 9.16141511e-01 2.32291195e-02 -3.82605260e+01] [-7.05624056e-02 5.53069519e-03 9.97492034e-01 -1.77490371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.287719421 meters 0.08217889826260602 Centerline is valid? [True, True] Translation: X:165.65, Y:-38.24, Z:-17.75 [[ 9.14499504e-01 -3.98970050e-01 6.71830070e-02 1.65646745e+02] [ 3.98322619e-01 9.16948036e-01 2.33536145e-02 -3.82430652e+01] [-7.09207190e-02 5.40364238e-03 9.97467319e-01 -1.77465466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.317719421 meters 0.08601830043006409 Centerline is valid? [True, True] Translation: X:165.68, Y:-38.24, Z:-17.75 [[ 9.15501309e-01 -3.96599970e-01 6.75708338e-02 1.65675590e+02] [ 3.95938051e-01 9.17976566e-01 2.34964533e-02 -3.82426510e+01] [-7.13471346e-02 5.24283054e-03 9.97437767e-01 -1.77508805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.347719421 meters 0.08103948123739314 Centerline is valid? [True, True] Translation: X:165.70, Y:-38.23, Z:-17.75 [[ 9.15671753e-01 -3.96084095e-01 6.82834514e-02 1.65700384e+02] [ 3.95406572e-01 9.18199196e-01 2.37461384e-02 -3.82256582e+01] [-7.21032779e-02 5.25605726e-03 9.97383322e-01 -1.77502158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.377719421 meters 0.0849665451909278 Centerline is valid? [True, True] Translation: X:165.73, Y:-38.22, Z:-17.76 [[ 9.16789701e-01 -3.93311024e-01 6.93042759e-02 1.65729426e+02] [ 3.92603585e-01 9.19391373e-01 2.41231832e-02 -3.82247339e+01] [-7.32056673e-02 5.09322121e-03 9.97303860e-01 -1.77573843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.407719421 meters 0.08367190275187826 Centerline is valid? [True, True] Translation: X:165.76, Y:-38.21, Z:-17.76 [[ 9.17566970e-01 -3.91437747e-01 6.96228806e-02 1.65755816e+02] [ 3.90718224e-01 9.20191202e-01 2.42367710e-02 -3.82126462e+01] [-7.35535493e-02 4.96406776e-03 9.97278915e-01 -1.77611401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.437719421 meters 0.07894765689674975 Centerline is valid? [True, True] Translation: X:165.78, Y:-38.20, Z:-17.76 [[ 9.20237315e-01 -3.85091187e-01 6.97714975e-02 1.65780810e+02] [ 3.84348934e-01 9.22867813e-01 2.43083581e-02 -3.81969622e+01] [-7.37508038e-02 4.44714248e-03 9.97266786e-01 -1.77608269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.467719421 meters 0.07985244319535108 Centerline is valid? [True, True] Translation: X:165.81, Y:-38.19, Z:-17.76 [[ 9.20367753e-01 -3.84422878e-01 7.17094905e-02 1.65808095e+02] [ 3.83636115e-01 9.23146102e-01 2.49921133e-02 -3.81905988e+01] [-7.58058767e-02 4.50841520e-03 9.97112403e-01 -1.77617081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.497719421 meters 0.07245972331390553 Centerline is valid? [True, True] Translation: X:165.83, Y:-38.16, Z:-17.76 [[ 9.21487109e-01 -3.81708224e-01 7.18355086e-02 1.65830673e+02] [ 3.80909917e-01 9.24272938e-01 2.50433772e-02 -3.81646763e+01] [-7.59548797e-02 4.28570837e-03 9.97102045e-01 -1.77582118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.527719421 meters 0.07225086567366261 Centerline is valid? [True, True] Translation: X:165.86, Y:-38.15, Z:-17.76 [[ 9.21169381e-01 -3.82350966e-01 7.24893835e-02 1.65857031e+02] [ 3.81538670e-01 9.24006878e-01 2.52889785e-02 -3.81532330e+01] [-7.66499543e-02 4.36207033e-03 9.97048523e-01 -1.77622234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.557719421 meters 0.07432338079557389 Centerline is valid? [True, True] Translation: X:165.89, Y:-38.15, Z:-17.76 [[ 9.18444598e-01 -3.88468296e-01 7.45110960e-02 1.65885169e+02] [ 3.87628199e-01 9.21448591e-01 2.60167760e-02 -3.81461419e+01] [-7.87648371e-02 4.98763457e-03 9.96880747e-01 -1.77633340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.587719421 meters 0.07432338079557389 Centerline is valid? [True, True] Translation: X:165.91, Y:-38.14, Z:-17.77 [[ 9.18340562e-01 -3.88714533e-01 7.45092234e-02 1.65911163e+02] [ 3.87874809e-01 9.21344659e-01 2.60221387e-02 -3.81368410e+01] [-7.87638586e-02 5.00306533e-03 9.96880747e-01 -1.77660805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.617719421 meters 0.07932617364383973 Centerline is valid? [True, True] Translation: X:165.94, Y:-38.13, Z:-17.77 [[ 9.16667663e-01 -3.92349382e-01 7.60418190e-02 1.65940393e+02] [ 3.91485002e-01 9.19800410e-01 2.65838020e-02 -3.81348839e+01] [-8.03734346e-02 5.40072000e-03 9.96750191e-01 -1.77684622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.647719421 meters 0.07871561503926335 Centerline is valid? [True, True] Translation: X:165.97, Y:-38.12, Z:-17.77 [[ 9.15552340e-01 -3.94754187e-01 7.70262580e-02 1.65968067e+02] [ 3.93874950e-01 9.18769237e-01 2.69371919e-02 -3.81243520e+01] [-8.14029256e-02 5.67630450e-03 9.96665111e-01 -1.77686768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.677719421 meters 0.080709748124691 Centerline is valid? [True, True] Translation: X:166.00, Y:-38.12, Z:-17.77 [[ 9.14107171e-01 -3.97889283e-01 7.80525340e-02 1.65996674e+02] [ 3.96996268e-01 9.17413700e-01 2.73142146e-02 -3.81170796e+01] [-8.24744973e-02 6.01844528e-03 9.96575003e-01 -1.77692096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.707719421 meters 0.0866610370996471 Centerline is valid? [True, True] Translation: X:166.03, Y:-38.12, Z:-17.77 [[ 9.09841157e-01 -4.07426185e-01 7.86954463e-02 1.66027464e+02] [ 4.06551883e-01 9.13211932e-01 2.75596357e-02 -3.81169265e+01] [-8.30941378e-02 6.91889110e-03 9.96517683e-01 -1.77722207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73771942099998 meters 0.08845432628791973 Centerline is valid? [True, True] Translation: X:166.06, Y:-38.11, Z:-17.78 [[ 9.07455728e-01 -4.12868748e-01 7.78684676e-02 1.66055577e+02] [ 4.12030932e-01 9.10761115e-01 2.72892535e-02 -3.81105127e+01] [-8.21864523e-02 7.32042783e-03 9.96590085e-01 -1.77764615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76771942099998 meters 0.09438487950979199 Centerline is valid? [True, True] Translation: X:166.09, Y:-38.12, Z:-17.78 [[ 9.03561109e-01 -4.21311165e-01 7.79373078e-02 1.66086931e+02] [ 4.20500956e-01 9.06880213e-01 2.73354164e-02 -3.81153336e+01] [-8.21965185e-02 8.07349331e-03 9.96583439e-01 -1.77803249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79771942099998 meters 0.09682963455874706 Centerline is valid? [True, True] Translation: X:166.11, Y:-38.11, Z:-17.78 [[ 9.02851597e-01 -4.22584018e-01 7.92574375e-02 1.66114159e+02] [ 4.21750040e-01 9.06285573e-01 2.78094096e-02 -3.81095355e+01] [-8.35816843e-02 8.31905758e-03 9.96466204e-01 -1.77814023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82771942099998 meters 0.09719460551569352 Centerline is valid? [True, True] Translation: X:166.14, Y:-38.10, Z:-17.78 [[ 9.03234865e-01 -4.21883104e-01 7.86220402e-02 1.66140498e+02] [ 4.21058732e-01 9.06613372e-01 2.75995962e-02 -3.81014790e+01] [-8.29235963e-02 8.17557897e-03 9.96522372e-01 -1.77834000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85771942099998 meters 0.08959467400018332 Centerline is valid? [True, True] Translation: X:166.16, Y:-38.08, Z:-17.78 [[ 9.03043982e-01 -4.22093774e-01 7.96769280e-02 1.66163412e+02] [ 4.21247535e-01 9.06514166e-01 2.79746595e-02 -3.80795574e+01] [-8.40361936e-02 8.30136160e-03 9.96428124e-01 -1.77839610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88771942099999 meters 0.10073259414520208 Centerline is valid? [True, False] Translation: X:166.16, Y:-38.09, Z:-17.76 [[ 9.19520886e-01 -3.91688879e-01 3.25754905e-02 1.66162696e+02] [ 3.91541768e-01 9.20094053e-01 1.10443255e-02 -3.80935949e+01] [-3.42984546e-02 2.59917717e-03 9.99408255e-01 -1.77635332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.917719421 meters 0.09554138562910362 Centerline is valid? [False, True] Translation: X:166.16, Y:-38.11, Z:-17.75 [[ 9.29741585e-01 -3.68138771e-01 -7.37767516e-03 1.66158743e+02] [ 3.68162970e-01 9.29758679e-01 2.19662571e-03 -3.81068547e+01] [ 6.05079442e-03 -4.75848107e-03 9.99970372e-01 -1.77451680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.947719421 meters 0.08923798711132422 Centerline is valid? [True, True] Translation: X:166.18, Y:-38.09, Z:-17.75 [[ 9.30238699e-01 -3.66859621e-01 -8.36549787e-03 1.66183170e+02] [ 3.66852422e-01 9.30275965e-01 -2.43480969e-03 -3.80866646e+01] [ 8.67545497e-03 -8.03948961e-04 9.99962044e-01 -1.77512755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.977719421 meters 0.09246596575544833 Centerline is valid? [True, True] Translation: X:166.21, Y:-38.08, Z:-17.75 [[ 9.30392525e-01 -3.66456924e-01 -8.89226459e-03 1.66211801e+02] [ 3.66448767e-01 9.30434630e-01 -2.58860266e-03 -3.80842664e+01] [ 9.22228228e-03 -8.50142832e-04 9.99957112e-01 -1.77528563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.007719421 meters 0.08965860717653414 Centerline is valid? [True, True] Translation: X:166.24, Y:-38.07, Z:-17.75 [[ 9.30481978e-01 -3.66209920e-01 -9.67380751e-03 1.66238859e+02] [ 3.66200220e-01 9.30531810e-01 -2.81948544e-03 -3.80734991e+01] [ 1.00343092e-02 -9.19070051e-04 9.99949233e-01 -1.77512870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.037719421 meters 0.08598618095840839 Centerline is valid? [True, True] Translation: X:166.26, Y:-38.06, Z:-17.75 [[ 9.31881217e-01 -3.62626479e-01 -9.97169432e-03 1.66264817e+02] [ 3.62615942e-01 9.31934127e-01 -2.90883209e-03 -3.80598070e+01] [ 1.03477818e-02 -9.05209340e-04 9.99946051e-01 -1.77509225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.067719421 meters 0.09415497037969149 Centerline is valid? [True, True] Translation: X:166.30, Y:-38.07, Z:-17.76 [[ 9.41229008e-01 -3.37665186e-01 -8.37721855e-03 1.66296727e+02] [ 3.37656757e-01 9.41266138e-01 -2.44368207e-03 -3.80686023e+01] [ 8.71033851e-03 -5.28559993e-04 9.99961925e-01 -1.77600397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.097719421 meters 0.07762562910941612 Centerline is valid? [True, True] Translation: X:166.31, Y:-38.03, Z:-17.75 [[ 9.38306743e-01 -3.45636735e-01 -1.07565097e-02 1.66314560e+02] [ 3.45623347e-01 9.38368078e-01 -3.13870770e-03 -3.80267960e+01] [ 1.11784181e-02 -7.72630303e-04 9.99937221e-01 -1.77493506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.127719421 meters 0.07089020610835592 Centerline is valid? [True, True] Translation: X:166.34, Y:-38.00, Z:-17.75 [[ 9.43517037e-01 -3.31190377e-01 -9.40934629e-03 1.66336287e+02] [ 3.31179408e-01 9.43563807e-01 -2.74617170e-03 -3.80023970e+01] [ 9.78782425e-03 -5.25121946e-04 9.99951960e-01 -1.77522011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.157719421 meters 0.07037249634194448 Centerline is valid? [True, True] Translation: X:166.36, Y:-37.99, Z:-17.75 [[ 9.45071484e-01 -3.26767528e-01 -7.92921662e-03 1.66363058e+02] [ 3.26759577e-01 9.45104661e-01 -2.31492796e-03 -3.79930718e+01] [ 8.25038288e-03 -4.03175062e-04 9.99965884e-01 -1.77539731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.187719421 meters 0.06793593271657385 Centerline is valid? [True, True] Translation: X:166.39, Y:-37.99, Z:-17.75 [[ 9.44696232e-01 -3.27900458e-01 -5.50633654e-03 1.66390317e+02] [ 3.27896622e-01 9.44712236e-01 -1.61121128e-03 -3.79850087e+01] [ 5.73022042e-03 -2.83403928e-04 9.99983542e-01 -1.77472578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.217719421 meters 0.06681295223527615 Centerline is valid? [True, True] Translation: X:166.42, Y:-37.98, Z:-17.74 [[ 9.45092021e-01 -3.26780815e-01 -3.92064800e-03 1.66418444e+02] [ 3.26778857e-01 9.45100133e-01 -1.14809083e-03 -3.79780464e+01] [ 4.08057900e-03 -1.96133387e-04 9.99991655e-01 -1.77434938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.247719421 meters 0.06421968641782067 Centerline is valid? [True, True] Translation: X:166.44, Y:-37.97, Z:-17.74 [[ 9.47863197e-01 -3.18640463e-01 -4.85955731e-03 1.66444915e+02] [ 3.18637354e-01 9.47875633e-01 -1.42186594e-03 -3.79684881e+01] [ 5.05931998e-03 -2.00702083e-04 9.99987181e-01 -1.77418560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.277719421 meters 0.06263134171002828 Centerline is valid? [True, True] Translation: X:166.47, Y:-37.96, Z:-17.74 [[ 9.48591192e-01 -3.16471715e-01 -4.51704396e-03 1.66471775e+02] [ 3.16468995e-01 9.48601931e-01 -1.32352886e-03 -3.79570830e+01] [ 4.70373607e-03 -1.74016542e-04 9.99988922e-01 -1.77422126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.307719421 meters 0.06249436933417155 Centerline is valid? [True, True] Translation: X:166.50, Y:-37.95, Z:-17.75 [[ 9.49464709e-01 -3.13815535e-01 -6.04787617e-03 1.66498019e+02] [ 3.13810609e-01 9.49483946e-01 -1.77159172e-03 -3.79483301e+01] [ 6.29831434e-03 -2.15823883e-04 9.99980142e-01 -1.77485212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.337719421 meters 0.06137671192279619 Centerline is valid? [True, True] Translation: X:166.52, Y:-37.94, Z:-17.75 [[ 9.50442225e-01 -3.10842281e-01 -6.05424513e-03 1.66523877e+02] [ 3.10837283e-01 9.50461487e-01 -1.77360894e-03 -3.79370818e+01] [ 6.30563948e-03 -1.96172281e-04 9.99980100e-01 -1.77484797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.367719421 meters 0.05860203321916922 Centerline is valid? [True, True] Translation: X:166.55, Y:-37.92, Z:-17.75 [[ 9.51583556e-01 -3.07351107e-01 -4.90243794e-03 1.66549243e+02] [ 3.07347782e-01 9.51596174e-01 -1.43649058e-03 -3.79209330e+01] [ 5.10664815e-03 -1.39812608e-04 9.99986951e-01 -1.77450347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.397719421 meters 0.05880805414616776 Centerline is valid? [True, True] Translation: X:166.58, Y:-37.91, Z:-17.75 [[ 9.51748845e-01 -3.06843995e-01 -4.57148239e-03 1.66575771e+02] [ 3.06841095e-01 9.51759815e-01 -1.34017719e-03 -3.79127996e+01] [ 4.76217856e-03 -1.27206567e-04 9.99988653e-01 -1.77461589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.427719421 meters 0.05888749658905869 Centerline is valid? [True, True] Translation: X:166.60, Y:-37.90, Z:-17.75 [[ 9.51331968e-01 -3.08122668e-01 -5.28271531e-03 1.66602519e+02] [ 3.08118813e-01 9.51346623e-01 -1.54901867e-03 -3.79028588e+01] [ 5.50298114e-03 -1.54072992e-04 9.99984847e-01 -1.77471932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.457719421 meters 0.059789892224497834 Centerline is valid? [True, True] Translation: X:166.63, Y:-37.90, Z:-17.75 [[ 9.50410394e-01 -3.10935844e-01 -6.24366469e-03 1.66631682e+02] [ 3.10930503e-01 9.50430882e-01 -1.83318191e-03 -3.78962582e+01] [ 6.50417370e-03 -1.99070662e-04 9.99978828e-01 -1.77491386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48771942099998 meters 0.06239589151269466 Centerline is valid? [True, True] Translation: X:166.66, Y:-37.90, Z:-17.75 [[ 9.48264723e-01 -3.17424901e-01 -5.95369644e-03 1.66660957e+02] [ 3.17420175e-01 9.48283385e-01 -1.74777563e-03 -3.78958461e+01] [ 6.20057892e-03 -2.32469388e-04 9.99980749e-01 -1.77492817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51771942099998 meters 0.0653165930291921 Centerline is valid? [True, True] Translation: X:166.69, Y:-37.90, Z:-17.75 [[ 9.45591142e-01 -3.25279493e-01 -7.11649993e-03 1.66691378e+02] [ 3.25272962e-01 9.45617860e-01 -2.08899684e-03 -3.78967660e+01] [ 7.40899727e-03 -3.39468103e-04 9.99972495e-01 -1.77479682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54771942099998 meters 0.07012567359793088 Centerline is valid? [True, True] Translation: X:166.72, Y:-37.90, Z:-17.75 [[ 9.43730810e-01 -3.30622706e-01 -7.79648279e-03 1.66721138e+02] [ 3.30615044e-01 9.43762922e-01 -2.28924587e-03 -3.78978414e+01] [ 8.11490804e-03 -4.17202639e-04 9.99966987e-01 -1.77500310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57771942099998 meters 0.07496781821327707 Centerline is valid? [True, True] Translation: X:166.75, Y:-37.90, Z:-17.75 [[ 9.39579758e-01 -3.42251103e-01 -7.35261077e-03 1.66751704e+02] [ 3.42244619e-01 9.39608401e-01 -2.16188740e-03 -3.78970345e+01] [ 7.64848319e-03 -4.85125834e-04 9.99970632e-01 -1.77515824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60771942099998 meters 0.07754916305544156 Centerline is valid? [True, True] Translation: X:166.78, Y:-37.89, Z:-17.75 [[ 9.38045145e-01 -3.46454301e-01 -6.38144960e-03 1.66780794e+02] [ 3.46449501e-01 9.38066744e-01 -1.87825243e-03 -3.78920704e+01] [ 6.63695428e-03 -4.48964458e-04 9.99977874e-01 -1.77520698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63771942099999 meters 0.08503449108472777 Centerline is valid? [True, True] Translation: X:166.81, Y:-37.90, Z:-17.75 [[ 9.32807431e-01 -3.60346311e-01 -4.56418983e-03 1.66812356e+02] [ 3.60344021e-01 9.32818515e-01 -1.34319824e-03 -3.78966745e+01] [ 4.74157731e-03 -3.91733213e-04 9.99988682e-01 -1.77518142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.667719421 meters 0.09209941125550695 Centerline is valid? [True, True] Translation: X:166.84, Y:-37.90, Z:-17.75 [[ 9.29973237e-01 -3.67620764e-01 -2.17983989e-03 1.66842785e+02] [ 3.67620256e-01 9.29975770e-01 -6.43740666e-04 -3.78990862e+01] [ 2.26385072e-03 -2.02691708e-04 9.99997417e-01 -1.77524927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.697719421 meters 0.0946935543043178 Centerline is valid? [True, True] Translation: X:166.87, Y:-37.89, Z:-17.75 [[ 9.28838550e-01 -3.70478053e-01 -2.22696718e-03 1.66870160e+02] [ 3.70477533e-01 9.28841195e-01 -6.56939763e-04 -3.78944671e+01] [ 2.31188062e-03 -2.14850331e-04 9.99997305e-01 -1.77520576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.727719421 meters 0.09368497076096938 Centerline is valid? [True, True] Translation: X:166.90, Y:-37.88, Z:-17.75 [[ 9.27172088e-01 -3.74618759e-01 -3.56439373e-03 1.66897195e+02] [ 3.74617452e-01 9.27178870e-01 -1.05272653e-03 -3.78836470e+01] [ 3.69920166e-03 -3.59225440e-04 9.99993093e-01 -1.77501668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.757719421 meters 0.09923646969094879 Centerline is valid? [True, True] Translation: X:166.93, Y:-37.88, Z:-17.75 [[ 9.26653394e-01 -3.75904199e-01 -3.08551787e-03 1.66925442e+02] [ 3.75903229e-01 9.26658477e-01 -9.10506279e-04 -3.78826989e+01] [ 3.20148442e-03 -3.16132398e-04 9.99994825e-01 -1.77518418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.787719421 meters 0.09907398692311883 Centerline is valid? [True, True] Translation: X:166.95, Y:-37.87, Z:-17.75 [[ 9.26990370e-01 -3.75068367e-01 -3.54607852e-03 1.66952318e+02] [ 3.75067072e-01 9.26997083e-01 -1.04839392e-03 -3.78720237e+01] [ 3.68042384e-03 -3.58166217e-04 9.99993163e-01 -1.77538387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.817719421 meters 0.09399253731910188 Centerline is valid? [True, True] Translation: X:166.98, Y:-37.86, Z:-17.76 [[ 9.26751272e-01 -3.75646551e-01 -4.66363004e-03 1.66976853e+02] [ 3.75644327e-01 9.26762884e-01 -1.37718120e-03 -3.78552316e+01] [ 4.83941259e-03 -4.75561740e-04 9.99988177e-01 -1.77556690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.847719421 meters 0.09685681491441593 Centerline is valid? [True, True] Translation: X:167.00, Y:-37.85, Z:-17.76 [[ 9.26053505e-01 -3.77362527e-01 -4.73596404e-03 1.67004832e+02] [ 3.77360250e-01 9.26065485e-01 -1.39976344e-03 -3.78531450e+01] [ 4.91403111e-03 -4.90908737e-04 9.99987806e-01 -1.77564815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.877719421 meters 0.09595650912906417 Centerline is valid? [True, True] Translation: X:167.03, Y:-37.85, Z:-17.76 [[ 9.25141082e-01 -3.79596095e-01 -4.55883548e-03 1.67033339e+02] [ 3.79594003e-01 9.25152188e-01 -1.34932168e-03 -3.78460728e+01] [ 4.72981386e-03 -4.82193688e-04 9.99988698e-01 -1.77551567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.907719421 meters 0.09884741847964106 Centerline is valid? [True, True] Translation: X:167.06, Y:-37.85, Z:-17.75 [[ 9.25921959e-01 -3.77680851e-01 -5.06963932e-03 1.67062256e+02] [ 3.77678241e-01 9.25935688e-01 -1.49964641e-03 -3.78470930e+01] [ 5.26054770e-03 -5.26136921e-04 9.99986025e-01 -1.77535810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.937719421 meters 0.10530946909325826 Centerline is valid? [True, False] Translation: X:167.05, Y:-37.86, Z:-17.74 [[ 9.33221110e-01 -3.57292324e-01 -3.79546564e-02 1.67053809e+02] [ 3.57071493e-01 9.33991023e-01 -1.26774521e-02 -3.78638415e+01] [ 3.99788647e-02 -1.72165987e-03 9.99199042e-01 -1.77382562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.967719421 meters 0.09868634337469745 Centerline is valid? [False, True] Translation: X:167.04, Y:-37.88, Z:-17.72 [[ 9.38500494e-01 -3.38595397e-01 -6.76016273e-02 1.67043192e+02] [ 3.38336196e-01 9.40896037e-01 -1.55969648e-02 -3.78778650e+01] [ 6.88871637e-02 -8.23431828e-03 9.97590474e-01 -1.77241759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.997719421 meters 0.09094097047536114 Centerline is valid? [True, True] Translation: X:167.07, Y:-37.86, Z:-17.72 [[ 9.40405884e-01 -3.33678567e-01 -6.55392053e-02 1.67067543e+02] [ 3.33326457e-01 9.42666038e-01 -1.65594094e-02 -3.78551263e+01] [ 6.73071029e-02 -6.27338512e-03 9.97712583e-01 -1.77213655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.027719421 meters 0.09550097443067267 Centerline is valid? [True, True] Translation: X:167.10, Y:-37.85, Z:-17.72 [[ 9.41250974e-01 -3.31534725e-01 -6.42754206e-02 1.67096533e+02] [ 3.31190685e-01 9.43423967e-01 -1.62464974e-02 -3.78549384e+01] [ 6.60252503e-02 -5.99538916e-03 9.97799941e-01 -1.77194538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.057719421 meters 0.09667790397297653 Centerline is valid? [True, True] Translation: X:167.12, Y:-37.85, Z:-17.72 [[ 9.41539638e-01 -3.31073787e-01 -6.23959702e-02 1.67123985e+02] [ 3.30748196e-01 9.43587151e-01 -1.57772055e-02 -3.78476720e+01] [ 6.40994549e-02 -5.78249027e-03 9.97926762e-01 -1.77165305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.087719421 meters 0.09769743100159302 Centerline is valid? [True, True] Translation: X:167.15, Y:-37.84, Z:-17.72 [[ 9.41081037e-01 -3.32249248e-01 -6.30628247e-02 1.67152501e+02] [ 3.31918455e-01 9.43173085e-01 -1.59584408e-02 -3.78402820e+01] [ 6.47813389e-02 -5.91352934e-03 9.97881961e-01 -1.77174628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.117719421 meters 0.09701739257234102 Centerline is valid? [True, True] Translation: X:167.18, Y:-37.83, Z:-17.72 [[ 9.40152071e-01 -3.34457181e-01 -6.52110201e-02 1.67180511e+02] [ 3.34107766e-01 9.42390159e-01 -1.65163375e-02 -3.78302284e+01] [ 6.69782312e-02 -6.25963932e-03 9.97734801e-01 -1.77191161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.147719421 meters 0.08980881222350921 Centerline is valid? [True, True] Translation: X:167.21, Y:-37.81, Z:-17.72 [[ 9.42200978e-01 -3.28570806e-01 -6.55632799e-02 1.67205682e+02] [ 3.28202531e-01 9.44461166e-01 -1.66193767e-02 -3.78102876e+01] [ 6.73826138e-02 -5.85924144e-03 9.97710004e-01 -1.77159488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.177719421 meters 0.08829493051847805 Centerline is valid? [True, True] Translation: X:167.23, Y:-37.80, Z:-17.72 [[ 9.43137620e-01 -3.25720410e-01 -6.63147336e-02 1.67233370e+02] [ 3.25336099e-01 9.45448876e-01 -1.68180028e-02 -3.77990989e+01] [ 6.81751571e-02 -5.71288563e-03 9.97657011e-01 -1.77155969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.207719421 meters 0.08325244193480129 Centerline is valid? [True, True] Translation: X:167.26, Y:-37.78, Z:-17.72 [[ 9.44581170e-01 -3.21222142e-01 -6.76959958e-02 1.67258875e+02] [ 3.20809481e-01 9.46987953e-01 -1.71783224e-02 -3.77801229e+01] [ 6.96253499e-02 -5.49119742e-03 9.97558097e-01 -1.77178434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23771942099998 meters 0.08537213623572722 Centerline is valid? [True, True] Translation: X:167.29, Y:-37.78, Z:-17.72 [[ 9.45422492e-01 -3.18497136e-01 -6.88177753e-02 1.67286437e+02] [ 3.18062540e-01 9.47908638e-01 -1.74766962e-02 -3.77756517e+01] [ 7.07992413e-02 -5.36549468e-03 9.97476155e-01 -1.77182780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26771942099998 meters 0.0834355450596975 Centerline is valid? [True, True] Translation: X:167.31, Y:-37.77, Z:-17.71 [[ 9.46760729e-01 -3.15269489e-01 -6.51864340e-02 1.67313483e+02] [ 3.14871519e-01 9.48989812e-01 -1.65608856e-02 -3.77671403e+01] [ 6.70824037e-02 -4.84615533e-03 9.97735669e-01 -1.77140015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29771942099998 meters 0.08351624229924622 Centerline is valid? [True, True] Translation: X:167.34, Y:-37.76, Z:-17.71 [[ 9.46624084e-01 -3.15905829e-01 -6.40808169e-02 1.67341758e+02] [ 3.15521731e-01 9.48778438e-01 -1.62945619e-02 -3.77627246e+01] [ 6.59460444e-02 -4.79406550e-03 9.97811674e-01 -1.77120430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32771942099998 meters 0.08204694292368203 Centerline is valid? [True, True] Translation: X:167.37, Y:-37.76, Z:-17.70 [[ 9.45439050e-01 -3.21148117e-01 -5.48533550e-02 1.67371162e+02] [ 3.20874824e-01 9.47018740e-01 -1.39589712e-02 -3.77615584e+01] [ 5.64300524e-02 -4.40370420e-03 9.98396843e-01 -1.76962035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35771942099998 meters 0.09140627916886471 Centerline is valid? [True, True] Translation: X:167.40, Y:-37.77, Z:-17.68 [[ 9.44379558e-01 -3.25355136e-01 -4.78673687e-02 1.67402289e+02] [ 3.25151879e-01 9.45583220e-01 -1.21913934e-02 -3.77745696e+01] [ 4.92291131e-02 -4.05086211e-03 9.98779297e-01 -1.76823720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38771942099999 meters 0.08728256520740155 Centerline is valid? [True, True] Translation: X:167.43, Y:-37.76, Z:-17.67 [[ 9.42717296e-01 -3.30872755e-01 -4.25125774e-02 1.67429206e+02] [ 3.30717920e-01 9.43667521e-01 -1.08290041e-02 -3.77649495e+01] [ 4.37007609e-02 -3.85098173e-03 9.99037243e-01 -1.76720867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.417719421 meters 0.09024263307754879 Centerline is valid? [True, True] Translation: X:167.46, Y:-37.76, Z:-17.67 [[ 9.41284448e-01 -3.34872273e-01 -4.29435444e-02 1.67457791e+02] [ 3.34717929e-01 9.42254752e-01 -1.09494692e-02 -3.77602294e+01] [ 4.41304324e-02 -4.06740914e-03 9.99017498e-01 -1.76716800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.447719421 meters 0.09761918504135236 Centerline is valid? [True, True] Translation: X:167.49, Y:-37.76, Z:-17.68 [[ 9.38063835e-01 -3.43335741e-01 -4.64414745e-02 1.67486104e+02] [ 3.43165017e-01 9.39200369e-01 -1.18506895e-02 -3.77583947e+01] [ 4.76866152e-02 -4.82038612e-03 9.98850715e-01 -1.76750031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.477719421 meters 0.1020441441829784 Centerline is valid? [True, False] Translation: X:167.47, Y:-37.77, Z:-17.66 [[ 9.40493162e-01 -3.30352303e-01 -7.96239122e-02 1.67474661e+02] [ 3.31099033e-01 9.43587456e-01 -4.01779591e-03 -3.77715031e+01] [ 7.64594129e-02 -2.25846908e-02 9.96816879e-01 -1.76577310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.507719421 meters 0.1020441441829784 Centerline is valid? [False, False] Translation: X:167.46, Y:-37.78, Z:-17.65 [[ 9.43197541e-01 -3.18005424e-01 -9.61818522e-02 1.67457204e+02] [ 3.19279752e-01 9.47657837e-01 -2.25047711e-03 -3.77828720e+01] [ 9.18631499e-02 -2.85862734e-02 9.95361234e-01 -1.76478163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.537719421 meters 0.10819564189041761 Centerline is valid? [False, False] Translation: X:167.45, Y:-37.79, Z:-17.64 [[ 9.41030461e-01 -3.14759483e-01 -1.24048937e-01 1.67447806e+02] [ 3.18004946e-01 9.48064876e-01 6.77096264e-03 -3.77915091e+01] [ 1.15475215e-01 -4.58198575e-02 9.92253000e-01 -1.76363985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.567719421 meters 0.11136083074596075 Centerline is valid? [False, False] Translation: X:167.44, Y:-37.80, Z:-17.63 [[ 9.40618105e-01 -3.08982730e-01 -1.40596065e-01 1.67441807e+02] [ 3.13073903e-01 9.49699842e-01 7.41223520e-03 -3.77983789e+01] [ 1.31233808e-01 -5.09890415e-02 9.90039295e-01 -1.76292209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.597719421 meters 0.11503973388903792 Centerline is valid? [False, False] Translation: X:167.43, Y:-37.81, Z:-17.63 [[ 9.39251524e-01 -3.09265090e-01 -1.48867988e-01 1.67427267e+02] [ 3.14487233e-01 9.49181771e-01 1.23184784e-02 -3.78066832e+01] [ 1.37493105e-01 -5.83872312e-02 9.88780348e-01 -1.76263113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.627719421 meters 0.11747254070369292 Centerline is valid? [False, False] Translation: X:167.43, Y:-37.81, Z:-17.62 [[ 9.40397168e-01 -3.00948606e-01 -1.58376457e-01 1.67427052e+02] [ 3.05649542e-01 9.52127481e-01 5.62284148e-03 -3.78095084e+01] [ 1.49102391e-01 -5.36953958e-02 9.87362791e-01 -1.76241560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.657719421 meters 0.11756524842614118 Centerline is valid? [False, False] Translation: X:167.42, Y:-37.81, Z:-17.62 [[ 9.43011191e-01 -2.89569719e-01 -1.63948989e-01 1.67420187e+02] [ 2.95231351e-01 9.55365375e-01 1.07447159e-02 -3.78125398e+01] [ 1.53519843e-01 -5.85352689e-02 9.86410300e-01 -1.76173288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.687719421 meters 0.11061085845288282 Centerline is valid? [False, False] Translation: X:167.42, Y:-37.81, Z:-17.61 [[ 9.46302268e-01 -2.74566107e-01 -1.70661861e-01 1.67417799e+02] [ 2.79857715e-01 9.60013872e-01 7.28176049e-03 -3.78126180e+01] [ 1.61838429e-01 -5.46517848e-02 9.85302748e-01 -1.76139221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.717719421 meters 0.10927782557035653 Centerline is valid? [False, False] Translation: X:167.41, Y:-37.81, Z:-17.61 [[ 9.50991484e-01 -2.51516451e-01 -1.79874048e-01 1.67405933e+02] [ 2.57448698e-01 9.66239786e-01 1.00421232e-02 -3.78056914e+01] [ 1.71275702e-01 -5.58583130e-02 9.83638390e-01 -1.76081604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.747719421 meters 0.09453395275399666 Centerline is valid? [False, True] Translation: X:167.41, Y:-37.80, Z:-17.60 [[ 9.54199227e-01 -2.33410254e-01 -1.87145633e-01 1.67405047e+02] [ 2.39850586e-01 9.70732950e-01 1.22162576e-02 -3.78026792e+01] [ 1.78817033e-01 -5.65437334e-02 9.82256217e-01 -1.76008968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.777719421 meters 0.09267917129495411 Centerline is valid? [True, True] Translation: X:167.43, Y:-37.76, Z:-17.62 [[ 9.56493007e-01 -2.28218028e-01 -1.81762644e-01 1.67432894e+02] [ 2.27373685e-01 9.73466932e-01 -2.57553704e-02 -3.77609091e+01] [ 1.82817763e-01 -1.66932105e-02 9.83005088e-01 -1.76234105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.807719421 meters 0.08785325742928424 Centerline is valid? [True, True] Translation: X:167.46, Y:-37.74, Z:-17.62 [[ 9.57464834e-01 -2.23549291e-01 -1.82446721e-01 1.67459137e+02] [ 2.22612508e-01 9.74563778e-01 -2.58672423e-02 -3.77373160e+01] [ 1.83588570e-01 -1.58479472e-02 9.82875414e-01 -1.76184704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.837719421 meters 0.08255425041012808 Centerline is valid? [True, True] Translation: X:167.48, Y:-37.70, Z:-17.62 [[ 9.56963946e-01 -2.24910613e-01 -1.83399078e-01 1.67484545e+02] [ 2.23981165e-01 9.74245454e-01 -2.60428963e-02 -3.77046692e+01] [ 1.84533042e-01 -1.61558263e-02 9.82693516e-01 -1.76159674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.867719421 meters 0.0859248060002474 Centerline is valid? [True, True] Translation: X:167.51, Y:-37.70, Z:-17.62 [[ 9.54886978e-01 -2.30119462e-01 -1.87712260e-01 1.67513366e+02] [ 2.29238327e-01 9.73004263e-01 -2.66925772e-02 -3.76962665e+01] [ 1.88787311e-01 -1.75424501e-02 9.81861301e-01 -1.76154264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.897719421 meters 0.092675476905468 Centerline is valid? [True, True] Translation: X:167.54, Y:-37.68, Z:-17.62 [[ 9.49397322e-01 -2.45662198e-01 -1.95690595e-01 1.67542673e+02] [ 2.45019923e-01 9.69117332e-01 -2.78717283e-02 -3.76822801e+01] [ 1.96494178e-01 -2.14867505e-02 9.80269533e-01 -1.76194910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3121.23 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%| | 0/5830 [00:00